Hamel, TarekMahony, RobertChriette, Abdelhamid2025-12-172025-12-171050-4729https://hdl.handle.net/1885/733795966An 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.6en200210.1109/ROBOT.2002.10136530036058201