Adaptive disturbance rejection controller for visual tracking of a maneuvering target

Vahram Stepanyan, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


This paper presents an adaptive disturbance rejection control architecture for a flying vehicle to track a maneuvering target using a monocular camera as a visual sensor. Viewing the target's velocity as a time-varying disturbance, the change in magnitude of which has a bounded integral, a guidance law is derived that guarantees asymptotic tracking of the target in the presence of measurement noise and an intelligent excitation signal in the reference input Implementation of the guidance law is done via conventional adaptive block backstepping. Simulations illustrate the benefits of the method.

Original languageEnglish (US)
Pages (from-to)1090-1106
Number of pages17
JournalJournal of Guidance, Control, and Dynamics
Issue number4
StatePublished - 2007
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics


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