Visual servo trajectory tracking for a four rotor VTOL aerial vehicle
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.
|Collections||ANU Research Publications|
|Source:||Proceedings of the 2002 IEEE International Conference on Robotics and Automation|