RMPC-Based Visual Servoing for Trajectory Tracking of Quadrotor UAVs With Visibility Constraints

作     者：Qifan Yang Huiping Li Qifan Yang;Huiping Li

作者机构：School of Marine Science and TechnologyNorthwestern Polytechnical UniversityXi’an 710072China 

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

年 卷 期：2024年第11卷第9期

页      面：2027-2029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 by the National Natural Science Foundation of China (U22B2039  62273281) 

主　　题：Visual image visibility 

摘      要：Dear Editor,This letter deals with the tracking problem of quadrotors subject to external disturbances and visibility constraints by designing a robust model predictive control(RMPC) scheme. According to the imagebased visual servoing(IBVS) method, a virtual camera is constructed to express image moments of the tracking target.