Global finite-time control for image-based visual servoing of quadrotor using backstepping method

Abstract

The main objective of this paper is to use a novel finite-time control method to solve the global finite-time convergence problem of image-based visual servoing of a quadrotor Unmanned Aerial Vehicle (QUAV). The effects of external wind resistance and system uncertainty are considered in the QUAV dynamics, and a disturbance observer is used to compensate for these effects. For the problem of obtaining target feature depth information, a novel nonlinear finite-time linear velocity observer is proposed by using the backstepping method. Based on the above two observers, we use the backstepping method to design the global finite-time controller of the system. The system is proved global finite-time stable using the Lyapunov method. Finally, numerical simulation and ROS gazebo simulation results demonstrate the effectiveness of the proposed control scheme.