Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor:System,Algorithms,and Experiments

作     者：Yuzhen Liu Ziyang Meng Yao Zou Ming Cao Yuzhen Liu;Ziyang Meng;Yao Zou;Ming Cao

作者机构：the Department of Precision InstrumentTsinghua UniversityBeijing 100084China the School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 10083China the Institute of Engineering and TechnologyUniversity of GroningenGroningen 9747AGThe Netherlands 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2021年第8卷第2期

页      面：344-360页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported in part by the Institute for Guo Qiang of Tsinghua University(2019GQG1023) in part by Graduate Education and Teaching Reform Project of Tsinghua University(202007J007) in part by National Natural Science Foundation of China(U19B2029,62073028,61803222) in part by the Independent Research Program of Tsinghua University(2018Z05JDX002) 

主　　题：Nano-scale quadrotor nonlinear control positionbased visual servoing visual object tracking 

摘      要：There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging *** this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose *** order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing *** particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely ***,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive *** and accurate object tracking is achieved even under *** results are presented to demonstrate the high accuracy and stability of the whole tracking system.