Visual servo trajectory tracking for a four rotor VTOL aerial vehicle

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dc.contributor.authorHamel, Tarek
dc.contributor.authorMahony, Robert
dc.contributor.authorChriette, Abdelhamid
dc.coverage.spatialWashington USA
dc.date.accessioned2015-12-13T22:29:00Z
dc.date.available2015-12-13T22:29:00Z
dc.date.createdMay 11 2002
dc.date.issued2002
dc.date.updated2015-12-11T08:44:59Z
dc.description.abstractAn 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.
dc.identifier.isbn0-7803-7272-7
dc.identifier.urihttp://hdl.handle.net/1885/74475
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2002)
dc.sourceProceedings of the 2002 IEEE International Conference on Robotics and Automation
dc.subjectKeywords: Closed loop control systems; Servomechanisms; System stability; Tracking (position); Trajectories; Trajectory tracking task; Visual servo control design; Computer vision
dc.titleVisual servo trajectory tracking for a four rotor VTOL aerial vehicle
dc.typeConference paper
local.bibliographicCitation.lastpage2786
local.bibliographicCitation.startpage2781
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationChriette, Abdelhamid, Universite d'Evry
local.contributor.authoremailu4033888@anu.edu.au
local.contributor.authoruidMahony, Robert, u4033888
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.ariespublicationMigratedxPub4142
local.identifier.scopusID2-s2.0-0036058201
local.identifier.uidSubmittedByMigrated
local.type.statusPublished Version

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