VISION BASED 3D TRACKING CONTROL OF UAV

摘要

This paper presents two image-based controllersrndesigned to track a target moving at constant velocity.rnDynamical model of VTOL type UAV isrnmanipulated to facilitate the control design. Thernfirst controller is designed for known target velocityrnwhile the second controller is designed forrnunknown target velocity. The work is motivatedrnby the technique of spherical-projection used torncontrol UAV motion in 3D using only monocularrnvision. In both cases, the control strategy reliesrnon designing of driving force for the translationalrndynamics, from which the desired orientation andrnthrust are extracted. Thereafter, an inner highrngain feedback loop is used to generate the controlrntorque guaranteeing the convergence of thernactual attitude to the desired one.