This paper proposed an image-based visual servoing (IBVS) control law for a quadrotor that is equipped with a single monocular camera attached to its bottom. For control purposes virtual reticle plane (VRP) algorithm is used to track the relative 3D position of the quadrotor to the tilting and moving target landing platform within the range of the camera’s field of view (FOV). In this article, the landing platform’s tilting motion is considered sinusoidal type oscillatory motion for the overhead camera. For control purposes, an adaptive finite-time control (AFTC) is proposed, based on the finite-time control (FTC) and adaptive approximation of uncertainties. A constructive combination of FTC and adaptive approximation inherits benefits of both to overcome each other’s limitations. The task of the controller is to regulate the position error to zero in time calculated by VRP. The experimental results confirmed the effectiveness of the VRP algorithm to track the desired parameters of the moving target. Finally, simulations are performed to illustrate the effectiveness and improved performance of the proposed AFTC in response time, robustness, and tracking accuracy.

本文提出了一种基于图像的视觉伺服（IBVS）控制定律，该定律用于四旋翼飞行器，该四旋翼飞行器的底部装有一个单目摄像头。出于控制目的，虚拟光罩平面（VRP）算法用于在摄像机视场（FOV）的范围内跟踪四旋翼飞行器相对于倾斜和移动目标着陆平台的相对3D位置。在本文中，降落平台的倾斜运动被视为高架摄像机的正弦型振荡运动。出于控制目的，基于有限时间控制（FTC）和不确定性的自适应近似，提出了一种自适应有限时间控制（AFTC）。FTC和自适应逼近的建设性组合继承了两者的优势，可以克服彼此的局限性。控制器的任务是将位置误差及时调整为VRP计算得出的零。实验结果证实了VRP算法跟踪运动目标所需参数的有效性。最后，进行仿真以说明所提出的AFTC在响应时间，鲁棒性和跟踪精度方面的有效性和改进的性能。