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

作　　者：Qifan Yang Huiping Li 

机构地区：[1]School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第9期2027-2029,共3页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (U22B2039, 62273281)。

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.

关 键 词：VISUAL IMAGE VISIBILITY 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] V279[自动化与计算机技术—计算机科学与技术] V249[航空宇航科学与技术—飞行器设计]