Adaptive Disturbance Rejection Controller for Visual Tracking of a Maneuvering Target

Abstract

This paper presents an adaptive disturbance rejection control architecture for a flying vehicle to track a maneuvering target using a monocular camera as a visual sensor. Viewing the target’s velocity as a time-varying disturbance, the change in magnitude of which has a bounded integral, a guidance law is derived that guarantees asymptotic tracking of the target in the presence of measurement noise and an intelligent excitation signal in the reference input. Implementation of the guidance law is done via conventional adaptive block backstepping. Simulations illustrate the benefits of the method.