Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets

Autores
Carvajal Cabrera, Christian Patricio; Andaluz, Víctor; Varela Aldás, José; Roberti, Flavio; Del Valle Soto, Carolina; Carelli Albarracin, Ricardo Oscar
Año de publicación
2024
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
An Image-Based Visual Servoing Control (IBVS) structure for target tracking by UnmannedAerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy is designed in the function of the image. The proposed SMC control strategy is commonly used in control systems that present high non-linearities and that are always exposed to external disturbances; these disturbances can be caused by environmental conditions or induced by the estimation of the position and/or velocity of the target to be tracked. In the second instance, a controller is placed to compensate the UAV dynamics; this is a controller that allows one to compensate the velocity errors that are produced by the dynamic effects of the UAV. In addition, the corresponding stability analysis of the sliding mode-based visual servo controller and the sliding mode dynamic compensation control is presented. The proposed control scheme employs the kinematics and dynamics of the robot by presenting a cascade control based on the same control strategy. In order to evaluate the proposed scheme for tracking moving targets, experimental tests are carried out in a semi-structured working environment with the hexarotor-type aerial robot. For detection and image processing, the Opencv C++ library is used; the data are published in an ROS topic at a frequency of 50 Hz. The robot controller is implemented in the mathematical software Matlab.
Fil: Carvajal Cabrera, Christian Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Andaluz, Víctor. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Del Valle Soto, Carolina. Universidad Panamericana.; México
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Visual servo control
Sliding model control
Dynamic compensation
UAVs´ tracking
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/265168
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving TargetsCarvajal Cabrera, Christian PatricioAndaluz, VíctorVarela Aldás, JoséRoberti, FlavioDel Valle Soto, CarolinaCarelli Albarracin, Ricardo OscarVisual servo controlSliding model controlDynamic compensationUAVs´ trackinghttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2An Image-Based Visual Servoing Control (IBVS) structure for target tracking by UnmannedAerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy is designed in the function of the image. The proposed SMC control strategy is commonly used in control systems that present high non-linearities and that are always exposed to external disturbances; these disturbances can be caused by environmental conditions or induced by the estimation of the position and/or velocity of the target to be tracked. In the second instance, a controller is placed to compensate the UAV dynamics; this is a controller that allows one to compensate the velocity errors that are produced by the dynamic effects of the UAV. In addition, the corresponding stability analysis of the sliding mode-based visual servo controller and the sliding mode dynamic compensation control is presented. The proposed control scheme employs the kinematics and dynamics of the robot by presenting a cascade control based on the same control strategy. In order to evaluate the proposed scheme for tracking moving targets, experimental tests are carried out in a semi-structured working environment with the hexarotor-type aerial robot. For detection and image processing, the Opencv C++ library is used; the data are published in an ROS topic at a frequency of 50 Hz. The robot controller is implemented in the mathematical software Matlab.Fil: Carvajal Cabrera, Christian Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Tecnologica Indoamerica.; EcuadorFil: Andaluz, Víctor. Universidad de Las Fuerzas Armadas; EcuadorFil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; EcuadorFil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Del Valle Soto, Carolina. Universidad Panamericana.; MéxicoFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaMultidisciplinary Digital Publishing Institute2024-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/265168Carvajal Cabrera, Christian Patricio; Andaluz, Víctor; Varela Aldás, José; Roberti, Flavio; Del Valle Soto, Carolina; et al.; Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets; Multidisciplinary Digital Publishing Institute; Drones; 8; 12; 12-2024; 1-222504-446XCONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2504-446X/8/12/730info:eu-repo/semantics/altIdentifier/doi/10.3390/drones8120730info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:26:38Zoai:ri.conicet.gov.ar:11336/265168instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-22 11:26:38.382CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
title Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
spellingShingle Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
Carvajal Cabrera, Christian Patricio
Visual servo control
Sliding model control
Dynamic compensation
UAVs´ tracking
title_short Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
title_full Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
title_fullStr Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
title_full_unstemmed Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
title_sort Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
dc.creator.none.fl_str_mv Carvajal Cabrera, Christian Patricio
Andaluz, Víctor
Varela Aldás, José
Roberti, Flavio
Del Valle Soto, Carolina
Carelli Albarracin, Ricardo Oscar
author Carvajal Cabrera, Christian Patricio
author_facet Carvajal Cabrera, Christian Patricio
Andaluz, Víctor
Varela Aldás, José
Roberti, Flavio
Del Valle Soto, Carolina
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Andaluz, Víctor
Varela Aldás, José
Roberti, Flavio
Del Valle Soto, Carolina
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv Visual servo control
Sliding model control
Dynamic compensation
UAVs´ tracking
topic Visual servo control
Sliding model control
Dynamic compensation
UAVs´ tracking
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv An Image-Based Visual Servoing Control (IBVS) structure for target tracking by UnmannedAerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy is designed in the function of the image. The proposed SMC control strategy is commonly used in control systems that present high non-linearities and that are always exposed to external disturbances; these disturbances can be caused by environmental conditions or induced by the estimation of the position and/or velocity of the target to be tracked. In the second instance, a controller is placed to compensate the UAV dynamics; this is a controller that allows one to compensate the velocity errors that are produced by the dynamic effects of the UAV. In addition, the corresponding stability analysis of the sliding mode-based visual servo controller and the sliding mode dynamic compensation control is presented. The proposed control scheme employs the kinematics and dynamics of the robot by presenting a cascade control based on the same control strategy. In order to evaluate the proposed scheme for tracking moving targets, experimental tests are carried out in a semi-structured working environment with the hexarotor-type aerial robot. For detection and image processing, the Opencv C++ library is used; the data are published in an ROS topic at a frequency of 50 Hz. The robot controller is implemented in the mathematical software Matlab.
Fil: Carvajal Cabrera, Christian Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Andaluz, Víctor. Universidad de Las Fuerzas Armadas; Ecuador
Fil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Del Valle Soto, Carolina. Universidad Panamericana.; México
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description An Image-Based Visual Servoing Control (IBVS) structure for target tracking by UnmannedAerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy is designed in the function of the image. The proposed SMC control strategy is commonly used in control systems that present high non-linearities and that are always exposed to external disturbances; these disturbances can be caused by environmental conditions or induced by the estimation of the position and/or velocity of the target to be tracked. In the second instance, a controller is placed to compensate the UAV dynamics; this is a controller that allows one to compensate the velocity errors that are produced by the dynamic effects of the UAV. In addition, the corresponding stability analysis of the sliding mode-based visual servo controller and the sliding mode dynamic compensation control is presented. The proposed control scheme employs the kinematics and dynamics of the robot by presenting a cascade control based on the same control strategy. In order to evaluate the proposed scheme for tracking moving targets, experimental tests are carried out in a semi-structured working environment with the hexarotor-type aerial robot. For detection and image processing, the Opencv C++ library is used; the data are published in an ROS topic at a frequency of 50 Hz. The robot controller is implemented in the mathematical software Matlab.
publishDate 2024
dc.date.none.fl_str_mv 2024-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/265168
Carvajal Cabrera, Christian Patricio; Andaluz, Víctor; Varela Aldás, José; Roberti, Flavio; Del Valle Soto, Carolina; et al.; Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets; Multidisciplinary Digital Publishing Institute; Drones; 8; 12; 12-2024; 1-22
2504-446X
CONICET Digital
CONICET
url http://hdl.handle.net/11336/265168
identifier_str_mv Carvajal Cabrera, Christian Patricio; Andaluz, Víctor; Varela Aldás, José; Roberti, Flavio; Del Valle Soto, Carolina; et al.; Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets; Multidisciplinary Digital Publishing Institute; Drones; 8; 12; 12-2024; 1-22
2504-446X
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2504-446X/8/12/730
info:eu-repo/semantics/altIdentifier/doi/10.3390/drones8120730
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.982451

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