Hybrid visual servoing for rotor aerial manipulation system

被引：0
|
作者：
Sun J.-T. [1 ,2 ]
Wang Y.-N. [1 ,2 ]
Tan J.-H. [1 ,2 ]
Zhong H. [1 ,2 ]
Li R.-H. [1 ,2 ]
机构：
[1] College of Electrical and Information Engineering, Hunan University, Changsha, 410082, Hunan
[2] National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha, 410082, Hunan
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Eye in hand system; Joint dynamic equations; Scaled Euclidean reconstruction; Unmanned aerial manipulations; Visual servoing;
D O I：
10.7641/CTA.2018.70857
中图分类号：
学科分类号：
摘要：
Unmanned aerial manipulations are special robotic systems which exists strong coupling characteristics. There are many issues using the vision for actively manipulate in environment, such as real-time depth estimation, the target is extremely easy to lose and the target Cartesian space model reconstruction. We formulate the kinematic and joint dynamic equations of the system based on force balance principle, which could deal with the respective drawbacks of classical image-based and position-based visual servoing as well as the matter of the system itself under-driven. Then, Through the decomposition of Euclidean homography matrix, proposing a hybrid visual servoing control scheme for unmanned aerial manipulation, which controls pan in image space and controls rotation in Cartesian space to achieve decoupling effect, is proposed to improve the systems interference immunity to non-structural factors and global stability. Finally, simulation and experimental results validate the robustness of system and demonstrate the superiority of algorithm. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：505 / 515
页数：10
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