Year: 2025
Type: article
Abstract: In this paper, an image-based visual control scheme is proposed for a quadrotor aerial vehicle with unknown mass and moment of inertia. In order to reduce the impacts of underactuation in quadrotor dynamics, a virtual image plane is introduced and appropriate image moment features are defined to decouple the image features from the movement of the vehicle. Subsequently, based on the quadrotor dynamics, a backstepping method is used to construct the torque controller, ensuring that the control system has superior dynamic performance. Furthermore, an adaptive control scheme is then designed to enable online estimation of dynamic parameters. Finally, stability is formally verified through constructive Lyapunov methods, and performance test results validate the efficacy and robustness of the proposed control scheme. It can be verified through performance tests that the quadrotor successfully positions itself at the desired position under uncertain dynamic parameters, and the attitude angles converge to the expected values.
Source: Electronics
Authors: Jianlan Guo, Bingsen Huang, Yuqiang Chen, Guangzai Ye, Guanyu Lai
Institutions: Dongguan Polytechnic, Guangdong University of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Award: G5394395424
OpenAlex ID: W4412995308