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Authors: Hamza Bouzerzour 1 ; Mohamed Guiatni 1 ; Mustapha Hamerlain 2 and Ahmed Allam 3

Affiliations: 1 Complex Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Algiers, Algeria ; 2 Centre de Développement des Technologies Avancées, Algiers, Algeria ; 3 Control Process Laboratory, National Polytechnic School, Algiers, Algeria

Keyword(s): Quadcopter, Exponential Reaching Law, IBVS, Sliding Mode Control, Ground Target Searching and Tracking.

Abstract: This paper propose a robust approach based on vision and sliding mode controller for searching and tracking an uncooperative and unidentified mobile ground target using a quadcopter UAV (QUAV). The proposed strategy is an Image-Based Visual Servoing (IBVS) approach using target’s visual data projected in a virtual camera combined with the information provided by the QUAV’s internal sensors. For an effective visual target searching, a circular search trajectory is followed, with a high altitude using the Camera Coverage Area (CCA). A Sliding Mode Controller (SMC) based on Exponential Reaching Law (ERL) is used to ensure the QUAV control in the presence of external disturbances and measurement uncertainties. Simulation results are presented to assess the proposer strategy considering different scenarios.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Bouzerzour, H.; Guiatni, M.; Hamerlain, M. and Allam, A. (2022). Vision-based Sliding Mode Control with Exponential Reaching Law for Uncooperative Ground Target Searching and Tracking by Quadcopter. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 555-564. DOI: 10.5220/0011353500003271

@conference{icinco22,
author={Hamza Bouzerzour. and Mohamed Guiatni. and Mustapha Hamerlain. and Ahmed Allam.},
title={Vision-based Sliding Mode Control with Exponential Reaching Law for Uncooperative Ground Target Searching and Tracking by Quadcopter},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={555-564},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011353500003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Vision-based Sliding Mode Control with Exponential Reaching Law for Uncooperative Ground Target Searching and Tracking by Quadcopter
SN - 978-989-758-585-2
IS - 2184-2809
AU - Bouzerzour, H.
AU - Guiatni, M.
AU - Hamerlain, M.
AU - Allam, A.
PY - 2022
SP - 555
EP - 564
DO - 10.5220/0011353500003271
PB - SciTePress

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