Robust Output Feedback Control of a Quadrotor UAV for Autonomous Vision-Based Target Tracking

In this paper, a model-based control approach is proposed for autonomous vision-based tracking of a moving target by a quadrotor vehicle. The considered problem presents several key challenges related to the lack of observability of the relative range, which affects line-of-sight measurements, and the incomplete knowledge of the target dynamic response. These are addressed from an output feedback perspective within a robust control framework. The effectiveness of the proposed approach is demonstrated through numerical simulations.