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Image-based finite-time visual servoing of a quadrotor for tracking a moving target

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Abstract

This paper proposes an image-based visual servoing control method for a moving target of a quadrotor UAV (QUAV). Firstly, the dynamic image model with moving target parameters is established based on the image moment features in the virtual camera plane. For the unpredictability of the moving target in space, we use a high-order differentiator to estimate the state parameters of the moving target. In order to solve the problem of image depth information caused by a monocular camera, we derive a nonlinear finite-time linear velocity observer from the virtual image plane, which can not only estimate the linear velocity information of QUAV but also avoid the measurement of image depth. Based on the above information, we design the global finite-time controller and use Lyapunov theory to prove the finite-time stability of the system. Finally, the numerical simulations verify the convergence of the proposed control scheme, and the ROS gazebo simulations demonstrate the improved performance of the proposed control scheme in tracking error.

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Funding

The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: The authors would like to thank the National Natural Science Foundation of China under Grant [52275003] and Grant [U1813220], in part by the Fundamental Research Funds for the Central Universities under Grant [buctrc202105] for their support in this research.

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Author notes

  1. Liang Yuan have contributed equally to this work.

Authors and Affiliations

  1. School of Mechanical Engineering, Xinjiang University, No. 777 Huarui street, Shuimogou District, Wulumuqi, 830046, Xinjiang, China

    Wei He & Liang Yuan

  2. School of Information Science and Technology, Beijing University of Chemical Technology, 15 Beisanhuan Dong Lu, Chaoyang District, Beijing, 100029, China

    Liang Yuan

Authors
  1. Wei He
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Contributions

WH involved in writing—original draft, validation and software. LY involved in writing—review and editing, and supervision.

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Correspondence to Liang Yuan.

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The authors declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.

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Custom code is available upon request at Liang Yuan email address.

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He, W., Yuan, L. Image-based finite-time visual servoing of a quadrotor for tracking a moving target. Nonlinear Dyn 111, 5307–5328 (2023). https://doi.org/10.1007/s11071-022-08107-w

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