Visual servo trajectory tracking for a four rotor VTOL aerial vehicle
Date
2002
Authors
Hamel, Tarek
Mahony, Robert
Chriette, Abdelhamid
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
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.
Description
Keywords
Keywords: Closed loop control systems; Servomechanisms; System stability; Tracking (position); Trajectories; Trajectory tracking task; Visual servo control design; Computer vision
Citation
Collections
Source
Proceedings of the 2002 IEEE International Conference on Robotics and Automation
Type
Conference paper