Remote visual servo tracking control of drone taking account of time delays
J. Shirai, Takashi Yamaguchi, Kiyotsugu Takaba · 2017
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.