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

Jiannan Chen, Fuchun Sun and Changchun Hua

International Journal of Systems Science, 2023, vol. 54, issue 8, 1774-1789

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.

Date: 2023
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2023.2210132 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:54:y:2023:i:8:p:1774-1789

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2023.2210132

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().