TY - GEN
T1 - Dynamic Interception Image-Based Visual Servoing Under Gust Interference and Model Uncertainty
AU - Guo, Hanyu
AU - Song, Tao
AU - Ye, Jianchuan
N1 - Publisher Copyright:
© Press of Acta Aeronautica et Astronautica Sinica 2026.
PY - 2026
Y1 - 2026
N2 - The existence of gust interference, sensor noise, model uncertainty, nonlinear and underactuated characteristics of quadrotor drones, and unknown target drone motion poses challenges to the existing UAV dynamic interception technology based on image visual servoing (IBVS). Based on the image dynamics model of the virtual image plane and velocity compensation, this study designs a finite-time convergence interception control method. The incremental nonlinear dynamic inversion (INDI) technology is used to improve the robustness of the quadrotor drone to gust interference, unknown target acceleration and model uncertainty. From the comparison of simulation results, it can be seen that under the above environmental conditions, compared with the existing methods, the proposed control method improves the interception accuracy by 45%, 21.3% and 49.2% in the head-on interception, pursuit and maneuvering target interception tasks, respectively.
AB - The existence of gust interference, sensor noise, model uncertainty, nonlinear and underactuated characteristics of quadrotor drones, and unknown target drone motion poses challenges to the existing UAV dynamic interception technology based on image visual servoing (IBVS). Based on the image dynamics model of the virtual image plane and velocity compensation, this study designs a finite-time convergence interception control method. The incremental nonlinear dynamic inversion (INDI) technology is used to improve the robustness of the quadrotor drone to gust interference, unknown target acceleration and model uncertainty. From the comparison of simulation results, it can be seen that under the above environmental conditions, compared with the existing methods, the proposed control method improves the interception accuracy by 45%, 21.3% and 49.2% in the head-on interception, pursuit and maneuvering target interception tasks, respectively.
KW - Gust interference
KW - Image-based visual servoing (IBVS)
KW - Incremental nonlinear dynamic inversion (INDI)
KW - Interception
KW - Model uncertainty
KW - Quadrotor
UR - https://www.scopus.com/pages/publications/105028355845
U2 - 10.1007/978-981-95-3037-3_28
DO - 10.1007/978-981-95-3037-3_28
M3 - Conference contribution
AN - SCOPUS:105028355845
SN - 9789819530366
T3 - Lecture Notes in Mechanical Engineering
SP - 410
EP - 420
BT - Proceedings of the 2nd Aerospace Frontiers Conference, AFC 2025 - Volume VI
PB - Springer Science and Business Media Deutschland GmbH
T2 - 2nd Aerospace Frontiers Conference, AFC 2025
Y2 - 11 April 2025 through 14 April 2025
ER -