Sampled-data robust visual servoing control for moving target tracking of an inertially stabilized platform with a measurement delay

The vision based moving target tracking is a key technology for unmanned systems in complex environments, which mainly limited by the visual measurement delay and kinematic uncertainties. In this paper, time-delay disturbance observer sampled-data control approach developed servoing of an inertially stabilized platform. As camera employed to capture position target, generated acquisition processing image information. Besides, uncertainties arising from variable feature depth inner-loop errors given reference signals are also unavoidable. To end, model perturbed delayed system established firstly. Due delay, it quite difficult get current state. such, new estimate previous its differences, facilitates predictions state disturbance. Based on above predictions, robust controller designed with rigorous stability analysis closed-loop system. Experiments performed validate promising qualities proposed method.