Robust Visual Servoing Control for Ground Target Tracking of Quadrotors

Abstract

In this brief, the robust position-based visual servoing control problem is addressed for a quadrotor with a down-facing monocular camera to perform ground target tracking tasks in outdoor environments. The object is to regulate the position of the quadrotor relative to the ground target by using a minimum sensor set, including an inertial measurement unit, an ultrasonic sensor, and a vision sensor. The robust compensators are designed in the visual servoing control system to enhance the robustness against nonlinearities, couplings, and uncertainties, including parameter uncertainties and external disturbances in the translational and rotational quadrotor dynamics. Theoretical analysis and experimental results demonstrate the effectiveness of the proposed robust visual servoing control method.