Finite-time Control for Image-based Visual Servoing of a Quadrotor Using Nonsingular Fast Terminal Sliding Mode

This paper investigates finite-time control for image-based visual servoing (IBVS) of a quadrotor subjects to image dynamics uncertainties and external disturbances. The quadrotor model is firstly proposed, based on this model and suppose that sensors on quadrotor only use a monocular camera and an inertial measurement unit, the image dynamics is developed by defining appropriate image features on virtual image plane and by means of perspective projection. The constructed visual model of the quadrotor, which includes 12 states, is decomposed into 6 subsystems in order to design the finite-time controller. Then, nonsingular fast terminal sliding model (NFTSM) finite-time controller is designed, and Lyapunov-based finite-time convergence and disturbance rejection properties are proved. Finally, simulation results are provided to demonstrate the effectiveness of the proposed results.