In recent years, the versatile application of drones in various fields has garnered attention due to their agility and high degree of maneuverability. One distinctive feature of drones is their capability to carry cameras. This allows for the application of image processing techniques to the captured visual data, enabling the recognition of diverse objects. By integrating this technology with drone control techniques, it is envisioned that a broader range of subjects can be effectively tracked and followed compared to traditional methods. However, inherent to the characteristics of cameras, a challenge arises wherein the loss of subject within the camera's field of view renders information gathering impossible.

In this study, we propose a tracking control methodology for drones equipped with cameras that continuously maintains visual contact with a subject while minimizing relative distance. We aim to demonstrate the effectiveness of this approach through simulations and experiments.