Remote visual servo tracking control of drone taking account of time delays
- Resource Type
- Conference
- Authors
- Shirai, Junpei; Yamaguchi, Takashi; Takaba, Kiyotsugu
- Source
- 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Society of Instrument and Control Engineers of Japan (SICE), 2017 56th Annual Conference of the. :1589-1594 Sep, 2017
- Subject
- Aerospace
Bioengineering
Components, Circuits, Devices and Systems
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Drones
Delay effects
Wireless communication
Delays
Mathematical model
Image processing
Servomechanisms
LQI optimal servomechanism
visual feedback
time delay
state augmentation
- Language
The use of drones has recently been expected in many applications such as exploration in dangerous areas, security surveillance, and logistics. Accurate position control of the drones is required in these applications. This work is concerned with the remote position tracking control of a quadrotor-type drone via visual feedback control. The transient response or stability of the drone may be significantly deteriorated by the adverse effect of the time delays due to wireless communication and image processing. In this work, we construct the LQI optimal servo control system for the linearized drone model with state augmentation to cope with the time delays. The effectiveness of the proposed method is verified by a simulation and an experiment.