IBVS based on adaptive sliding mode control for a quadrotor target tracking under perturbations

This paper presents the design of a visual control formulated on an adaptive sliding mode controller for a quadrotor executing a target tracking task subject to disturbances. An image projection of the target from a virtual camera approach, and an image-based visual servoing technique are considered to obtain a singularity-free set of image features to control the position and yaw of the rotorcraft. While, an adaptive sliding mode strategy improves the robustness against bounded external perturbations and uncertainties and provides adaptivity to the visual servoing scheme. Furthermore, an analysis based on Lyapunov theory provides sufficient conditions that guarantee the stability of the closed-loop system. A comparison of the proposed adaptive visual servoing against two recent visual servoing strategies is provided, showing superiority in simulation results. Finally, experimental tests of a Parrot AR.Drone 2.0 tracking a static and moving target further demonstrates the advantages and performance.

Automated summary

This paper presents a design of visual control for a quadrotor executing a target tracking task in the presence of disturbances. The design utilizes an adaptive sliding mode controller, image projection, and image-based visual servoing technique to control the position and yaw of the rotorcraft. The adaptive sliding mode strategy enhances robustness against external disturbances, and an analysis based on Lyapunov theory ensures stability of the closed-loop system. Experimental tests demonstrate the superiority and performance of the proposed design.