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Velocity Estimator Augmented Image-Based Visual Servoing for Moving Targets with Time-Varying 3-D Motion

This paper presents a novel image-based visual servoing (IBVS) technique for moving targets. A target velocity estimation law is designed using dynamic surface-like filters and incorporated in the control law to compensate for the uncertainties due to the unknown target motion. Rigorous Lyapunov analysis is performed to show that the errors converge exponentially to an ultimate bound for time-varying target motion and asymptotically to zero if the target velocity is constant. The simulation results considering a realistic environment show the adaptability of the proposed scheme to track an arbitrary moving target in 3-dimension (3-D).