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Visual servo trajectory tracking for a four rotor VTOL aerial vehicle

Hamel, Tarek; Mahony, Robert; Chriette, Abdelhamid

Description

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.

CollectionsANU Research Publications
Date published: 2002
Type: Conference paper
URI: http://hdl.handle.net/1885/74475
Source: Proceedings of the 2002 IEEE International Conference on Robotics and Automation

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