Exponentially Stable Observer-based Controller for VTOL-UAVs without Velocity Measurements

05/15/2022
by   Hashim A. Hashim, et al.
0

There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking control in application to a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in six degrees of freedom (6 DoF). A full state observer for the estimation of VTOL-UAV motion parameters (attitude, angular velocity, position, and linear velocity) is proposed on the Lie Group of 𝕊𝔼_2(3)×ℝ^3 =𝕊𝕆(3)×ℝ^9 with almost globally exponentially stable closed loop error signals. Thereafter, a full state observer-based controller for the VTOL-UAV motion parameters is proposed on the Lie Group with a guaranteed almost global exponential stability. The proposed approach produces good results without the need for angular and linear velocity measurements (without a gyroscope and GPS signals) utilizing only a set of known landmarks obtained by a vision-aided unit (monocular or stereo camera). The equivalent quaternion representation on 𝕊^3×ℝ^9 is provided in the Appendix. The observer-based controller is presented in a continuous form while its discrete version is tested using a VTOL-UAV simulation that incorporates large initial error and uncertain measurements. The proposed observer is additionally tested experimentally on a real-world UAV flight dataset. Keywords: Unmanned aerial vehicle, nonlinear filter algorithm, autonomous navigation, tracking control, feature measurement, observer-based controller, localization, exponential stability, asymptotic stability, inertial measurement unit (IMU), Global Positioning Systems (GPS), vision aided inertial navigation system.

READ FULL TEXT

page 1

page 12

research
12/30/2022

Observer-based Controller for VTOL-UAVs Tracking using Direct Vision-Aided Inertial Navigation Measurements

This paper proposes a novel observer-based controller for Vertical Take-...
research
08/15/2023

Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion

Navigation in Global Positioning Systems (GPS)-denied environments requi...
research
09/05/2022

Analysis of the Effect of Time Delay for Unmanned Aerial Vehicles with Applications to Vision Based Navigation

In this paper, we analyze the effect of time delay dynamics on controlle...
research
03/18/2017

Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements

This paper presents a novel approach for localising a GPS (Global Positi...
research
05/24/2020

Vision-based control of a knuckle boom crane with online cable length estimation

A vision-based controller for a knuckle boom crane is presented. The con...
research
08/25/2022

A Gis Aided Approach for Geolocalizing an Unmanned Aerial System Using Deep Learning

The Global Positioning System (GPS) has become a part of our daily life ...
research
10/04/2021

Sensitivity Study of Fiducial-Aided Navigation of Unmanned Aerial Vehicles

The possible applications and benefits of autonomous Unmanned Aerial Veh...

Please sign up or login with your details

Forgot password? Click here to reset