Adaptive disturbance rejection guidance law for visual tracking of a maneuvering target

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. The kinematic equations of relative motion are formulated in the body frame of the tracking vehicle, in which the target velocity is viewed as a time-varying disturbance. Under the assumption that the change in the target velocity has a bounded integral, the derived guidance law guarantees asymptotic tracking of the target, in the presence of an intelligent excitation signal in the reference input. Implementation of the guidance law is done via. conventional adaptive backstepping. Simulations of the guidance law illustrate the benefits of the method.