TY - GEN
T1 - Image-Based Prescribed Performance Control for Quadrotor to Track an Unknown Target
AU - Liu, Bingjin
AU - Huang, Yi
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - This article addresses the problem of tracking moving ground target with unknown motion for quadrotor in GPS-denied environments. Firstly, an IBVS controller, which utilizes virtual image features to decouple the translational and rotational motion of quadrotor, is proposed, effectively addressing underactuated issues. Secondly, the research solely relies on visual sensors, which intelligently extract and utilize image information to design the controller, thereby significantly reducing the dependence on external hardware and demonstrating flexible tracking capabilities in complex scenes. In addition, prescribed performance control enables efficient operation even under unknown target motion conditions.
AB - This article addresses the problem of tracking moving ground target with unknown motion for quadrotor in GPS-denied environments. Firstly, an IBVS controller, which utilizes virtual image features to decouple the translational and rotational motion of quadrotor, is proposed, effectively addressing underactuated issues. Secondly, the research solely relies on visual sensors, which intelligently extract and utilize image information to design the controller, thereby significantly reducing the dependence on external hardware and demonstrating flexible tracking capabilities in complex scenes. In addition, prescribed performance control enables efficient operation even under unknown target motion conditions.
KW - IBVS
KW - prescribed performance control
KW - quadrotor
KW - tracking
UR - http://www.scopus.com/inward/record.url?scp=105006466616&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-2232-0_53
DO - 10.1007/978-981-96-2232-0_53
M3 - Conference contribution
AN - SCOPUS:105006466616
SN - 9789819622313
T3 - Lecture Notes in Electrical Engineering
SP - 533
EP - 542
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 9
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -