Abstract
This article addresses the vision-based landing problem of a low-cost quadrotor on an unknown moving platform. A robust landing controller is developed, which consists of the design of the low-complexity outer-loop controller and the geometric inner-loop attitude controller. First, an error transformation based on prescribed performance is designed to guarantee the landing behaviors and deal with the intermediate control signal of backstepping approaches, resulting in a low-complexity position-based visual servoing (PBVS) design. In addition, the proposed PBVS controller exhibits strong robustness against an uncertain relative dynamic system due to no incorporation of any prior knowledge of the moving platform. Next, a modified geometric attitude controller is presented by characterizing the geometric properties of rotation matrices intrinsically. Finally, the stability analysis is presented using Lyapunov stability theory, and the effectiveness of the proposed control strategy is demonstrated through numerical simulations and experiments.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
