This paper proposes a new nonlinear visual servoing control law for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) which forces the observed target to be maintained inside the videocamera field of view. The considered vehicles are underactuated -there are less control inputs than degrees of freedom- and the control task is performed in a minimal sensors configuration, where only images from a videocamera, inertial and linear velocity measurements are available. An input saturation technique is applied to a recently defined nonlinear control design for vision based UAV stabilization, which forces the target to remain in view of the UAV during the flight, instead of assuming that this property will be true, as most existing approaches do. A stability analysis of the obtained closed-loop is presented. Simulation results show the relevance of the proposed approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Nonlinear Visual Servoing Control for VTOL UAVs with Field of View Constraint



    Published in:

    Publication date :

    2015-01-01


    Size :

    18 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Deep Reinforcement Learning for the Visual Servoing Control of UAVs with FOV Constraint

    Gui Fu / Hongyu Chu / Liwen Liu et al. | DOAJ | 2023

    Free access

    Formation Control of VTOL UAVs

    Abdessameud, Abdelkader / Tayebi, Abdelhamid | Springer Verlag | 2013


    Adaptive visual servoing of UAVs using a virtual camera

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


    Dynamic output feedback image-based visual servoing of rotorcraft UAVs

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


    Position Tracking for VTOL UAVs

    Abdessameud, Abdelkader / Tayebi, Abdelhamid | Springer Verlag | 2013