Image-based target tracking control for vertical take-off and landing UAVs
LIU Jin-tao
GAO Li
WU Wen-hai
LI Jing
Abstract：The low-cost quadrotor is equiped with inertial measurement unit (IMU) and camera, but there is no position, velocity or heading measurement. For this problem, an image-based control method is studied to track the maneuvering target. Firstly, the system error equations are proposed in the image space, which include the motion equations of quadrotor. Secondly, a position controller is designed, which takes image moments as inputs and attitude and thrust commands as outputs. Finally, for the problem of no measurement of image speed, a super-twisting sliding mode observer and controller are designed. The controller is robust to the unknown target maneuver and its output is chattering-free. The system stability is proven by Lyapunov theory. The unmanned aerial vehicle (UAV) completes the target tracking flight by fast tilt attitude change, not slow yaw change. The simulation results demonstrate the efficiency of proposed control scheme for quadrotor target tracking.
Keywords：quadrotor UAVstracking controlimage based visual servoingsliding mode control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 723-731 )