Robust Observer-Based Visual Servo Control for Quadrotors Tracking Unknown Moving Targets

Abstract

This article addresses the image-based control problem of a quadrotor for tracking an unknown moving target under external disturbances. Based on the continuous observer design, a constructive image-based visual servoing (IBVS) geometric tracking control strategy is proposed and utilized. First, a higher order sliding mode observer is designed based on image dynamics for continuous estimation of unmeasurable linear velocities and time-varying disturbances. Furthermore, exploiting the linear quadratic regulator optimal design method, an outer loop IBVS controller is proposed such that the position of the quadrotor converges to the desired tracking pattern. Next, an inner loop geometric controller is designed using Lie algebra functions to regulate the attitudes. Based on the Lyapunov stability theory, it is rigorously proven that the proposed IBVS geometric controller achieves asymptotic stability. Finally, the effectiveness and robustness of the proposed approach against uncertain targets, time-varying disturbances, and large initial inclination angles are demonstrated through numerical simulations and experiments.