Non-singular Fast Terminal Adaptive Visual Tracking Control with Reduced Tuning Parameters for an Aerial Vehicle Under Perturbations
Gustavo Olivas-Martínez,Armando Miranda-Moya,Carlos Katt,Herman Castañeda,Gustavo Olivas-Martínez,Armando Miranda-Moya,Carlos Katt,Herman Castañeda
This paper presents a robust image-based visual servoing design for a quad-rotor unmanned aerial vehicle performing a visual target-tracking operation in the presence of turbulent wind. Image information is extracted and processed to control the positioning and heading of the aerial vehicle. A novel adaptive non-singular fast terminal sliding mode strategy is introduced to manage the visual servoi...
