Image Based Visual Servoing for an Autonomous Quadrotor with Adaptive Backstepping Control

摘要

This paper proposes a quadrotor control scheme using image-based visual servo integrated with adaptive backstepping control. Image-based visual servo provides the reference velocities by using image-Jacobian matrix and errors of feature positions on the image plane. Adaptive backstepping control generates input signals for propellers to track the reference velocity accurately even under uncertain effects. The integrated system enables a quadrotor robot to fly to the desired place by minimizing the errors of image feature positions. The performance of the overall system is validated by numerical simulation. Also, to demonstrate the superiority of the proposed system, we compare the performance to that of image-based visual servo integrated with PI control.