Dynamic Image-Based Visual Servoing of Unmanned Aerial Vehicles under Disturbances

Abstract

In this paper, a novel image-based visual servoing (IBVS) approach based on a second-order image dynamics model is proposed to realize the positioning of unmanned aerial vehicles (UAVs) under disturbances. Specifically, the mathematical relationship between the image motion and the UAV accelerations is described by a second-order image dynamics model, which decouples the image motions and the UAV dynamics. Based on this model, a sliding-mode observer is implemented to estimate the external disturbances. Then, the output of the observer is exploited in the dynamic IBVS controller designed. As a result, the proposed dynamic IBVS controller can be applied in environments under uncertain disturbances without position and translational velocity measurements. The Lyapunov analysis is provided demonstrating the global asymptotic stability of the proposed dynamic IBVS controller and the exponential convergence of the image errors. Finally, a visual positioning experiment is implemented to verify the feasibility and effectiveness of the proposed IBVS method.