Image-Based Visual Servo Control of Aerial Robotic Systems Using Linear Image Features

Abstract

An image-based "eye-in-hand" visual servo-control design is proposed for underactuated rigid-body dynamics. The dynamic model considered is motivated by recent work on vertical takeoff and landing aerial robotic vehicles. The task considered is that of tracking parallel linear visual features. The proposed design exploits the geometry of the task considered and passivity-like properties of rigid-body dynamics to derive a control Lyapunov function using backstepping techniques.