Passivity-based pose control for a ground vehicle through Drone's visual feedback control

被引：0

作者：

Murao T. ^{[1
]}

Kuroda M. ^{[2
]}

Kawai H. ^{[1
]}

机构：

[1] College of Engineering, Kanazawa Institute of Technology, 7-1, Ohgigaoka, Nonoichi, Ishikawa

[2] Graduate Program in Mechanical Engineering, Kanazawa Institute of Technology, 7-1, Ohgigaoka, Nonoichi, Ishikawa

来源：

IEEJ Trans. Electron. Inf. Syst. | 2019年 / 11卷 / 1316-1324期

基金：

日本学术振兴会;

关键词：

Drone; Eye-to-hand configuration; Movable camera; Passivity; Stability; Visual feedback control;

D O I：

10.1541/ieejeiss.139.1316

中图分类号：

学科分类号：

摘要：

This paper presents passivity-based visual feedback control for an endpoint closed-loop system with a movable camera. In particular, we discuss a control scheme for the vehicle system that consists of two ground vehicles and a camera-mounted aerial vehicle. The objective of the system is that a controlled ground vehicle tracks a target ground vehicle by using only aerial vehicle's visual information. First, a brief summary of the estimation and pose error systems for the camera-mounted aerial vehicle is presented. Second, we design a novel nonlinear observer to estimate the pose of the controlled ground vehicle. Next, we propose a visual feedback control law for the constructed visual motion error system based on the passivity. After discussing stability analysis of the closed-loop system through Lyapunov stability theorem, we present L2-gain performance analysis that deals with the disturbance attenuation problem via dissipation systems theory. Finally, we provide simulation results and actual nonlinear experimental results using two ground vehicles and a camera-mounted aerial vehicle to illustrate the performance of the proposed control method. © 2019 The Institute of Electrical Engineers of Japan.

引用

页码：1316 / 1324

页数：8

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