Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/90647
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dc.contributorDepartment of Aeronautical and Aviation Engineeringen_US
dc.creatorLi, Jen_US
dc.creatorXie, Hen_US
dc.creatorLow, KHen_US
dc.creatorYong, Jen_US
dc.creatorLi, Ben_US
dc.date.accessioned2021-08-13T06:13:31Z-
dc.date.available2021-08-13T06:13:31Z-
dc.identifier.urihttp://hdl.handle.net/10397/90647-
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.rights(c) 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more informationen_US
dc.rightsThe following publication J. Li, H. Xie, K. H. Low, J. Yong and B. Li, "Image-based Visual Servoing of Rotorcrafts to Planar Visual Targets of Arbitrary Orientation," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3101878. is available at https://dx.doi.org/10.1109/LRA.2021.3101878en_US
dc.subjectVisual Servoingen_US
dc.subjectAerial Systems: Mechanics and Controlen_US
dc.subjectImage Momenten_US
dc.subjectNonlinear Backstepping Controlen_US
dc.titleImage-based visual servoing of rotorcrafts to planar visual targets of arbitrary orientationen_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.doi10.1109/LRA.2021.3101878en_US
dcterms.abstractThis paper for the first time extends the virtual camera image-based visual servoing (IBVS) scheme to enable an underactuated rotorcraft UAV to regulate its translational motion and heading relative to a planar visual target of arbitrary orientation. The conversion from real camera images to virtual camera images of visual targets are proposed based on a set of rotation matrices. Hence, image moment features can be reused due to the simplicity and decoupled structure of the interaction matrix, and satisfactory 3D Cartesian trajectory of UAVs. In the design of the IBVS control law, the external disturbance and model uncertainties are estimated by an integral-based filter. In addition, to enable tracking of a moving visual target, a velocity estimator is developed. The global asymptotic stability of the error dynamics is proven. Both of the simulation and experimental results of tracking of a tilted moving planar target have been provided to show the efficacy of the proposed IBVS scheme.en_US
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitationIEEE robotics and automation letters, Jul. 2021en_US
dcterms.isPartOfIEEE robotics and automation lettersen_US
dcterms.issued2021-07-
dc.identifier.eissn2377-3766en_US
dc.description.validate202108 bchyen_US
dc.description.oaAccepted Manuscripten_US
dc.identifier.FolderNumbera0999-n01-
dc.identifier.SubFormID2400-
dc.description.fundingSourceSelf-fundeden_US
dc.description.pubStatusPublisheden_US
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