Sliding mode control based controls for quadrotors for image based servoing of dynamic targets

Abstract

In this study, we build upon the Image-Based Visual Servoing (IBVS) technique by Yogesh Kumar and Bassam Pervez Shamsi to develop an advanced kinematic controller for quadrotor tracking. Our approach enhances the tracking of a planar moving target through direct control calculations in the image plane, leveraging the simplicity and robustness of IBVS. We extend the capabilities of this system by integrating IBVS with Sliding Mode Control, aiming to improve adaptability and precision in dynamic environments. A key innovation in our approach is the integration of IBVS with Sliding Mode Control (SMC), a decision driven by the latter’s exceptional robustness against system uncertainties and external disturbances. SMC is renowned for its ability to maintain control effectiveness even in the face of parameter variations and unmodeled dynamics, making it an ideal complement to IBVS in challenging operational environments.Further, we implement the combined IBVS and Sliding Mode Control framework in the Gazebo ROS simulation environment, demonstrating its effectiveness and potential for real-world applications in complex operational scenarios.