Visual servo trajectory tracking for a four rotor VTOL aerial vehicle
Date
Authors
Hamel, Tarek
Mahony, Robert
Chriette, Abdelhamid
Journal Title
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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.
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Source
Proceedings of the 2002 IEEE International Conference on Robotics and Automation