Fixed-Time Differentiator-Based Adaptive Nonsingular Fast Terminal Image-Based Visual Servoing for a Quadrotor UAV Subject to Turbulent Wind

• Published in: IEEE transactions on aerospace and electronic systems Vol. 60; no. 3; pp. 2807 - 2818
• Main Authors: Miranda-Moya, Armando, Castaneda, Herman, Wang, Hesheng
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Control theory; Convergence; Disturbances; Fixed-time differentiator; image-based visual servoing (IBVS); Low altitude; Luminous intensity; nonsingular fast terminal adaptive sliding mode control (ASMC); Quadrotors; robust control; Rotary wing aircraft; Sliding mode control; Stability analysis; State vectors; Target tracking; Tracking; Turbulent wind; Unmanned aerial vehicles; Unmanned helicopters; Vehicle dynamics; Velocity measurement; Visual servoing; Visualization
• ISSN: 0018-9251; 1557-9603
• DOI: 10.1109/TAES.2024.3354229

This article presents the design of an adaptive nonsingular fast terminal image-based visual servoing. The aim is to drive the position and heading of a quadrotor unmanned aerial vehicle to track a dynamic target without knowledge of target measurements. In addition, the entire system is subject to turbulent wind disturbances of moderate and light intensity described by the Von Karman wind model. A tracking differentiator has been included to provide estimates of the image features-based state vector and its first derivative in a fixed time regardless of the initial estimation error. As a consequence, the design of the visual servoing is simplified since the control law of the proposed visual servoing is independent of velocity measurements from the rotorcraft and the target. Furthermore, a nonsingular fast terminal adaptive sliding mode control has been designed to provide robustness against bounded external disturbances and model uncertainties, practical finite-time state convergence, and chattering attenuation of the control input. A Lyapunov stability analysis is given to guarantee the total stability of the system. Finally, simulations in ROS/Gazebo framework show the advantages and feasibility of the proposed visual controller at a low-altitude operation.