Título
Robust visual servoing using adaptive sliding mode control and quaternions for a quadrotor UAV tracking a dynamic target
Autor
HERMAN CASTAÑEDA CUEVAS
Nivel de Acceso
Acceso Abierto
Materias
Resumen o descripción
Quadrotor unmanned aircraft vehicles are being used nowadays more than ever in dangerous
and complicated environments that include on-sea structure inspections, density-forest analy-
sis, search-rescue operations, and precision agriculture activities, among many others. Given
its extended use in multiple scenarios, the need for proper control and robustness against
complex environments is highlighted, resulting in a reluctant adoption of quadrotors for fully
autonomous operations. This is especially true in applications where local positioning is re-
quired such as target tracking operations, object picking, indoor navigation, between others.
Most of the time these operations are executed using an onboard camera, as such, keeping
the objective inside the eld of view is a major problem when external perturbations affect
the aircraft. To propose a solution to this problem, this thesis presents a robust image-based
visual servoing -control- design for a quadrotor unmanned aerial vehicle performing visual
target-tracking operations in the presence of turbulent winds. Visual data, extracted by the
analysis of critical image features, is processed to control the positioning and heading of
the aerial vehicle. The image acquisition algorithm considers a virtual camera approach,
which produces an image insensitive to the roll and pitch movements. The previous image
operations and the quadrotor modeling are performed using the quaternion rotational repre-
sentation, which avoids many of the well-known Euler angle singularities. Additionally, a
novel adaptive non-singular fast terminal sliding mode strategy is introduced to minimize the
visual servoing error. Unlike other sliding mode methods, the proposed approach reduces
the complexity of the system due to the reduction of control parameters, while providing
practical nite-time convergence, robustness against bounded external disturbances as well
as model uncertainties, non-overestimation of the control gains, and chattering attenuation.
Furthermore, the stability of the system in a closed loop is guaranteed through the Lyapunov
stability analysis. Finally, the proposed control algorithm is extensively tested using the
Gazebo/ROS simulator which provides a close-to-real-life insight into the performance of
the system comparing it to the same scenario using the Euler angles representation.
Maestría en Ciencias de la Ingeniería
Editor
Instituto Tecnológico y de Estudios Superiores de Monterrey
Fecha de publicación
2023
Tipo de publicación
Tesis de maestría
Recurso de información
Formato
application/pdf
Idioma
Inglés
Audiencia
Público en general
Repositorio Orígen
Repositorio Institucional del Tecnológico de Monterrey
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