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Visual servo trajectory tracking for a four rotor VTOL aerial vehicle

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Date

2002

Authors

Hamel, Tarek
Mahony, Robert
Chriette, Abdelhamid

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Abstract

An image-based visual servo control design is proposed for a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer accomplishing a trajectory tracking task. The approach taken is an image-based visual servo (IBVS) design that is applicable to under-actuated dynamic systems. The work is an extension of the authors earlier work to the trajectory tracking problem. Semi-global stability of the closed loop system is proved for bounded trajectories.

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https://hdl.handle.net/1885/733795966

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ANU Research Publications

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Proceedings - IEEE International Conference on Robotics and Automation

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Journal article

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DOI

10.1109/ROBOT.2002.1013653

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