Fixed-time controller of visual quadrotor for tracking a moving target
Wei He,
Liang Yuan
Abstract:In order to eliminate the dependence of finite-time control on the initial state of the system in the image-based visual servoing (IBVS) of a quadrotor UAV (QUAV) for the moving target, we propose a control scheme for the moving target of a QUAV based on fixed-time stability. We select the image moments of the virtual camera plane as features and establish an image moment dynamics model that includes target motion parameters based on them. Then, we use the backstepping method to design the fixed-time controlle… Show more
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