Adaptive visual servo control law for finite-time tracking to land quadrotor on moving platform using virtual reticle algorithm

Abstract

This paper proposed an image-based visual servoing (IBVS) control law for a quadrotor that is equipped with a single monocular camera attached to its bottom. For control purposes virtual reticle plane (VRP) algorithm is used to track the relative 3D position of the quadrotor to the tilting and moving target landing platform within the range of the camera’s field of view (FOV). In this article, the landing platform’s tilting motion is considered sinusoidal type oscillatory motion for the overhead camera. For control purposes, an adaptive finite-time control (AFTC) is proposed, based on the finite-time control (FTC) and adaptive approximation of uncertainties. A constructive combination of FTC and adaptive approximation inherits benefits of both to overcome each other’s limitations. The task of the controller is to regulate the position error to zero in time calculated by VRP. The experimental results confirmed the effectiveness of the VRP algorithm to track the desired parameters of the moving target. Finally, simulations are performed to illustrate the effectiveness and improved performance of the proposed AFTC in response time, robustness, and tracking accuracy.