NDLI: Nonlinear Visual Control of Unmanned Aerial Vehicles in GPS-Denied Environments

Content Provider	IEEE Xplore Digital Library
Author	Mebarki, R. Lippiello, V. Siciliano, B.
Copyright Year	2004
Abstract	In this paper, we propose a nonlinear controller that stabilizes unmanned aerial vehicles in GPS-denied environments with respect to visual targets by using only onboard sensing. The translational velocity of the vehicle is estimated online with a nonlinear observer, which exploits spherical visual features as the main source of information. With the proposed solution, only four visual features have shown to be enough for the observer to operate in a real scenario. In addition, the observer is computationally light with constant numerical complexity, involving small-dimension matrices. The observer output is then exploited in a nonlinear controller designed with an integral backstepping approach, thus yielding a novel robust control system. By means of Lyapunov analysis, the stability of the closed-loop system is proved. Extensive simulation and experimental tests with a quadrotor are carried out to verify the validity and robustness of the proposed approach. The control system runs fully onboard on a standard processor, and only a low-cost sensing suite is employed. Tracking of a target whose speed exceeds 2 $\mathrm{m/s}$ is also considered in the real-hardware experiments.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1004
Ending Page	1017
Page Count	14
File Size	2421561
File Format	PDF
ISSN	15523098
Volume Number	31
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Observers Vehicles Cameras Robot sensing systems velocity estimation Image-based visual servoing nonlinear controller nonlinear observer unmanned aerial vehicle (UAV)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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