摘要
Different from the traditional controller system for quadrotor tasks, the vision-based strategiesare more practical and powerful to execute more complex tasks, becoming more attractive toresearchers. In this paper, an image-feature-based controller with states extracted in imagesdirectly is proposed for the quadrotor to track a moving underground target, in which suitableimage features are defined and a coupling problem between position and attitude loop is solvedby a decoupling algorithm. Moreover, the external disturbances caused by visual noise, wind, orother problems are eliminated by a robust observer with low-pass filters. A Lyapunov-based stabilitymethod is presented to prove the convergent properties of the system. Finally, a simulationusing python3.6 with realistic images is established to verify that the system is stable and withhigh performance, the results of which show the data of unmanned aerial vehicle in movingtarget tracking.
基金
National Natural Science Foundation of China[61931020,62033010].
