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Specifically, image features are selected from perspective image moments of a planar target to obtain virtual feature dynamics regarding UAV kinematics and dynamics. By constructing an auxiliary variable, a translational velocity observer for moving target is constructed by using virtual image features. An IBVS tracking controller is designed without target geometric information by combining UAV and visual feature dynamics. Designed controller and observer make the UAV robustly reach desired height and track the moving target, despite uncertainty of target movement. The controller has asymptotical convergence performance, and the target velocity is observed according to Lyapunov stability analysis. 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