Finite-time dynamic visual servo control for quadrotor tracking unknown motion target: Finite-time dynamic visual servo control for quadrotor: S. Hu et al.

In this work, an image-based visual servoing control method is proposed for quadrotor tracking ground targets with unknown motion states. Firstly, the dynamic image model containing the parameters of the moving target is established in the virtual image plane by the image moment features. In order to estimate time-variant disturbances during quadrotor flight and unknown motion states of the ground target, a higher-order sliding mode observer is designed. In this context, we propose a finite-time controller and prove the system’s finite-time stability using the Lyapunov theory. Finally, the convergence of the proposed method is verified by numerical simulation, and hardware-in-the-loop simulation evaluates the effectiveness of practical devices. Comparative experimental results demonstrate the superior performance of the proposed method.