Image based fixed time visual servoing control for the quadrotor UAV

摘要

In this study, the visual servoing control problem is investigated, and a fixed time based visual servoing control scheme is proposed for quadrotor unmanned aerial vehicles. First, based on the perspective projection principle and target points, effective image features are defined on an image plane called the virtual image plane. Then, the image feature dynamics and QUAV dynamics are combined to derive a coupled non-linear system, and the non-linear system is decoupled into two subsystems under inner-outer loop control framework. Furthermore, the novel sliding mode surfaces based fixed-time controllers are designed, and the resulting closed-loop systems are proved to be stable. Finally, the numerical simulations and experiments are conducted to validate the effectiveness of the proposed control scheme.