Vision-Based Fuzzy Controller for Quadrotor Tracking a Ground Target

Xu Chao Chen; Zhi Qiang Cao; Yue Quan Yang; Chao Zhou

doi:10.4028/www.scientific.net/AST.101.121

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HomeAdvances in Science and TechnologyAdvances in Science and Technology Vol. 101Vision-Based Fuzzy Controller for Quadrotor...

Vision-Based Fuzzy Controller for Quadrotor Tracking a Ground Target

Abstract:

A vision-based fuzzy controller for a quadrotor is proposed in this paper to realize ground target tracking. Due to the under-actuated property of quadrotors as well as the coupled dynamics in the image plane, it is challenging to design an image-based visual servoing controller for the quadrotor. Since the fuzzy control does not require an accurate model, a fuzzy-based approach is presented to solve the image-based tracking problem. Fuzzy controller takes image moments as inputs and its outputs are used to control the position of quadrotor in a form of tilt angles and vertical velocity adjustment. The proposed approach is verified by experiment.

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Periodical:

Advances in Science and Technology (Volume 101)

Pages:

121-126

DOI:

https://doi.org/10.4028/www.scientific.net/AST.101.121

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Online since:

October 2016

Authors:

Xu Chao Chen, Zhi Qiang Cao*, Yue Quan Yang, Chao Zhou

Keywords:

Image Moments, Quadrotor, Tracking, Vision

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* - Corresponding Author

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