Image-based prescribed performance visual servoing control of a QUAV with hysteresis quantised input

Abstract

ABSTRACT In this paper, a novel image-based prescribed performance visual servoing control scheme with hysteresis quantised input is proposed for quadrotor unmanned aerial vehicles (QUAVs, for short). First, based on the perspective projection principle, effective image features are defined on a image plane called virtual image plane, and the decoupled image feature dynamics are achieved with respect to target points. Then, the image feature dynamics and QUAV dynamics are combined to derive a nonlinear dynamic system, and the nonlinear system is decoupled into two subsystems based on the commonly used inner–outer loop control framework. Furthermore, the prescribed performance control-based visual servoing control scheme with hysteresis quantizer is designed, and the necessary stability proof is presented. Finally, the numerical simulations and experiments are conducted to validate the effectiveness of the proposed control scheme.