An Image-Based Visual Servoing Control (IBVS) structure for target tracking by Unmanned Aerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy is designed in the function of the image. The proposed SMC control strategy is commonly used in control systems that present high non-linearities and that are always exposed to external disturbances; these disturbances can be caused by environmental conditions or induced by the estimation of the position and/or velocity of the target to be tracked. In the second instance, a controller is placed to compensate the UAV dynamics; this is a controller that allows one to compensate the velocity errors that are produced by the dynamic effects of the UAV. In addition, the corresponding stability analysis of the sliding mode-based visual servo controller and the sliding mode dynamic compensation control is presented. The proposed control scheme employs the kinematics and dynamics of the robot by presenting a cascade control based on the same control strategy. In order to evaluate the proposed scheme for tracking moving targets, experimental tests are carried out in a semi-structured working environment with the hexarotor-type aerial robot. For detection and image processing, the Opencv C++ library is used; the data are published in an ROS topic at a frequency of 50 Hz. The robot controller is implemented in the mathematical software Matlab.


    Access

    Download


    Export, share and cite



    Title :

    Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets




    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Dynamic output feedback image-based visual servoing of rotorcraft UAVs

    Xie, Hui / Li, Jianan / Low, K.H. | IEEE | 2017


    Sliding mode variable structure control for visual servoing system

    Li, F. / Xie, H. L. | British Library Online Contents | 2010



    Adaptive visual servoing of UAVs using a virtual camera

    Hui Xie / Fink, Geoff / Lynch, Alan F. et al. | IEEE | 2016


    Tracking Strategy of Multiple Moving Targets Using Multiple UAVs

    Lin, Chuanjian / Shi, Jingping / Huang, Degang et al. | TIBKAT | 2022