RMPC-Based Visual Servoing for Trajectory Tracking of Quadrotor UAVs with Visibility Constraints

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2024-08-15 DOI:10.1109/JAS.2024.124533

Qifan Yang;Huiping Li

引用次数: 0

Abstract

Dear Editor, This letter deals with the tracking problem of quadrotors subject to external disturbances and visibility constraints by designing a robust model predictive control (RMPC) scheme. According to the image-based visual servoing (IBVS) method, a virtual camera is constructed to express image moments of the tracking target. Furthermore, we design time-varying visibility constraints to cater to UAV attitudes in the RMPC optimization problem so that the tracking target always stays within the field of view (FoV) of the aerial camera. Moreover, the RMPC algorithm is proved to be recursively feasible, and the closed-loop system is stable. Finally, numerical experiments verify the efficacy of the proposed method.

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基于 RMPC 的视觉伺服用于可见度受限的四旋翼无人机轨迹跟踪

亲爱的编辑，这封信通过设计一种鲁棒模型预测控制（RMPC）方案来解决受外部干扰和能见度限制的四旋翼飞行器的跟踪问题。根据基于图像的视觉伺服（IBVS）方法，我们构建了一个虚拟相机来表达跟踪目标的图像矩。此外，在 RMPC 优化问题中，我们设计了时变可见度约束，以迎合无人机的姿态，从而使跟踪目标始终保持在航空相机的视场（FoV）内。此外，RMPC 算法被证明是递归可行的，并且闭环系统是稳定的。最后，数值实验验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.