abstract
- This paper presents the design of an image-based visual servoing developed under a nonsingular fast terminal adaptive sliding mode strategy. The approach considers a quadrotor UAV executing a dynamic target tracking against wind turbulence. The image projection of the target is extracted through a virtual camera method to establish an image features vector that allows controlling the position and heading of the rotorcraft through a nonsingular fast terminal adaptive sliding mode controller, which provides robustness against model uncertainties and bounded external disturbances; and chattering reduction due to the nonoverestimation of its gain. Furthermore, a Lyapunov stability analysis guarantees the practical finite-time convergence of the closed-loop system. Finally, simulation results demonstrate the feasibility and advantages of the proposed visual-based control scheme.