Image-Based Visual Servoing with Backstepping for the Drone

Abstract

This paper proposes an image-based visual servoing controller with a backstepping scheme for drones. For the purpose of controller design, the drone dynamics are simplified by yaw angle decoupling and dynamic expansion. In addition, a virtual image plane is defined to apply image-based visual servoing to the drone system, and a feature position on this plane is used as the output variables of the system. Through simulation, it is shown that the proposed controller is suitable for the task of tracking an object or moving to a point in the camera image.