Mahony, RobertHerisse, BrunoRussotto, Francois-XavierHamel, Tarek2015-12-08September9781424420582http://hdl.handle.net/1885/29853This paper presents a nonlinear controller for hovering flight and touchdown control for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns the stability of hovering flight and the second one concerns regulation of automatic landing using the divergent optical flow as feedback information. Experimental results on a quadrotor UAV demonstrate the performance of the proposed control strategy.Keywords: Automatic landing; Control strategies; Feed back information; Non-linear controllers; Quadrotors; Rigid body; Sensor suite; Target plane; Vertical landing; Vertical take-off and landings; VTOL vehicle; Feedback; Intelligent robots; Landing; Light transmis200810.1109/IROS.2008.46507312016-02-24