视觉伺服
控制理论(社会学)
控制器(灌溉)
终端滑动模式
趋同(经济学)
计算机科学
Lyapunov稳定性
终端(电信)
滑模控制
理论(学习稳定性)
特征(语言学)
机器人
人工智能
控制(管理)
非线性系统
农学
语言学
经济增长
量子力学
经济
电信
哲学
物理
机器学习
生物
作者
Archit Krishna Kamath,Subhash Chand Yogi,Laxmidhar Behera,Saeid Nahavandi
标识
DOI:10.1109/smc52423.2021.9659168
摘要
This paper proposes a novel 3 DoF vision augmented Quadrotor model for visual servoing. The proposed model eliminates the necessity of deploying a separate visual-servoing controller and a robot controller, thereby reducing the on-board computational load drastically. The proposed model, as opposed to the conventional PBVS and IBVS approaches, helps in the use of torque control strategies. To utilize this feature of the model, a non-singular fast-terminal sliding mode modified super-twisting controller (NSFTSM-MSTC) is proposed. The non-singular fast-terminal sliding manifold ensures the fast and finite time convergence of the error between the desired and actual points of interest, while ensuring smoother transitions in the quadrotor states. The modified super-twisting reaching law ensures that the control input is continuous thereby ensuring chattering attenuation. The overall system stability is presented using Lyapunov’s stability criteria and an expression for convergence time is also derived. The proposed theory is validated using numerical simulations and is compared with the existing conventional sliding mode based visual servoing approach (CSMVS).
科研通智能强力驱动
Strongly Powered by AbleSci AI