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.

中文翻译：

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使用非奇异快速终端滑动模式的四旋翼基于图像的视觉伺服的有限时间控制

本文研究了受图像动态不确定性和外部干扰影响的四旋翼飞行器基于图像的视觉伺服 (IBVS) 的有限时间控制。首次提出了四旋翼模型，在此模型的基础上，假设四旋翼上的传感器仅使用单目相机和惯性测量单元，通过在虚像平面上定义适当的图像特征并通过透视投影来开发图像动力学。构建的包含 12 个状态的四旋翼飞行器可视化模型被分解为 6 ​​个子系统，以设计有限时间控制器。然后，设计了非奇异快速终端滑动模型(NFTSM)有限时间控制器，证明了基于Lyapunov的有限时间收敛性和抗扰性。最后，