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Adaptive filtering and image based visual servo control of a ducted fan flying robot

Le Bras, Florent; Mahony, Robert; Hamel, Tarek; Binetti, Paolo


This paper considers the question of fully image based visual servo control for a Vertical Takeoff and landing (VTOL) Unmanned Aerial Vehicle. The visual targets considered are coloured blobs on a flat surface to which the normal direction is known. A fully non-linear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a first order spherical moment for position and an...[Show more]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Proceedings of the 45th IEEE Conference on Decision and Control


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