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]
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