Dynamic image-based tracking control for VTOL UAVs

This paper presents an image-based tracking control algorithm for unmanned aerial vehicles (UAVs) capable of vertical take-off and landing (VTOL). Based on the control design architecture presented in [1] and [2], we propose control schemes allowing the VTOL UAV to track a moving target using a camera and an Inertial Measurement Unit (IMU). Perspective image moments with an appropriate projection are used to derive simple dynamics of the image features used for feedback. The proposed control scheme incorporates estimates of the acceleration of the target and does not rely on linear-velocity measurements. Simulation results are provided to validate the theoretical results.