Vision-based Sliding Mode Control with Exponential Reaching Law for Uncooperative Ground Target Searching and Tracking by Quadcopter

Hamza Bouzerzour, Mohamed Guiatni, Mustapha Hamerlain, Ahmed Allam

2022

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.

Paper Citation

in Harvard Style

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 - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 555-564. DOI: 10.5220/0011353500003271

in Bibtex Style

@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 - Volume 1: ICINCO,},
year={2022},
pages={555-564},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011353500003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: 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
AU - Bouzerzour H.
AU - Guiatni M.
AU - Hamerlain M.
AU - Allam A.
PY - 2022
SP - 555
EP - 564
DO - 10.5220/0011353500003271