Desired compensation RISE-based IBVS control of quadrotors for tracking a moving target

  • Ning Liu
  • Xingling ShaoEmail author
Original Paper


To achieve accurate moving target tracking in the presence of multiple disturbances, this paper presents a desired compensation robust integral of the sign of the error (DCRISE) feedback control strategy for quadrotor unmanned aerial vehicles under image-based visual servo (IBVS) framework. For the purpose of effectively regulating the pose and attitude of quadrotor, proper perspective image moments extracted from the defined virtual image plane are chosen as the image features. Then, a DCRISE feedback controller is constructed for the quadrotor, in which a robust integral of the sign of the error method is employed for suppressing the multiple disturbances and a desired compensation-based feedforward control is introduced to address the nonlinearity nature of the system and circumvent the requirements on the availability of linear velocity. It is theoretically proved by the Lyapunov analysis that all the closed-loop tracking errors under the proposed DCRISE-based IBVS control structure are convergent to a small neighborhood around the origin in spite of multiple disturbances. The validity and advantages of the present approach are confirmed through extensive simulations and comparisons.


Desired compensation robust integral of the sign of the error (DCRISE) Moving target tracking Quadrotors Image-based visual servo (IBVS) Image moments 



The authors would like to thank the reviewers and the editor for their comments and suggestions that helped to improve the paper significantly.


This study was funded in part by Shanxi Province Science Foundation for Youths (Grant Nos. 201701D221123, 201601D021067), Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi, North University of China College Fund (Grant No. 2017023), and in part by the National Natural Science Foundation of China under grant (Grant No. 61803348).

Compliance with ethical standards

Conflict of interest

The authors declare that they have no conflict of interest.


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Copyright information

© Springer Nature B.V. 2018

Authors and Affiliations

  1. 1.School of Instrument and ElectronicsNorth University of ChinaTaiyuanChina
  2. 2.National Key Laboratory for Electronic Measurement TechnologyNorth University of ChinaTaiyuanChina

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