Robust visual servoing control for quadrotors landing on a moving target. Issue 4 (March 2021)

• Record Type: Journal Article
• Authors: Zhao, Wanbing; Liu, Hao; Wang, Xinlong
• Is Part Of: Journal of the Franklin Institute. Volume 358:Issue 4(2021)
• Page Start: 2301
• Page End: 2319
• Publication Date: 2021-03
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2021.01.008
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: In this paper, a robust visual servoing control approach is proposed to address the landing problem for quadrotors on a moving platform. A vision system is implemented to estimate the position and velocity of the quadrotor. A robust cascade controller is proposed by following backstepping-like fundamentals and robust compensating theory. The effects of time-varying uncertainties, including parameter uncertainties and external disturbances, and time-varying delays resulted from image acquisition, image processing, and sensor measurement delays can be restrained. Experimental results using a quadrotor to land on a ground moving target illustrate the effectiveness of the proposed approach.