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Image based visual servo control for a class of aerial robotic systems

Hamel, Tarek; Mahony, Robert


An image-based strategy for visual servo control of a class of dynamic systems is proposed. The class of systems considered includes dynamic models of unmanned aerial vehicles capable of quasi-stationary flight (hover and near hover flight). The control strategy exploits passivity-like properties of the dynamic model to derive a Lyapunov control algorithm using backstepping techniques. The paper extends earlier work (Hamel, T., & Mahony, R. (2002). Visual servoing of an under-actuated dynamic...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2007.03.030


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