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Output feedback observation and control for visual servoing of VTOL UAVs

Le Bras, Florent; Hamel, Tarek; Mahony, Robert; Treil, Aurelie

Description

This paper considers the question of stabilizing vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) using a minimal and an inexpensive sensor suite. The sensor suite considered consists of rate gyros and a single embedded video camera system. The approach taken is based on the principles of dynamic image-based visual servo control and extends the authors' earlier work by removing dependence on additional sensors, such as accelerometers and magnetometers. The technique...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
URI: http://hdl.handle.net/1885/60908
Source: International Journal of Robust and Nonlinear Control
DOI: 10.1002/rnc.1638

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