Mahony, Robertvon Brasch, ArvedCorke, Peter IanHamel, Tarek2015-12-13December 10780395689http://hdl.handle.net/1885/79228This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system.Keywords: Adaptive control systems; Closed loop control systems; Feature extraction; Image analysis; Robot applications; Velocity measurement; Adaptive depth estimation; Aerial robotic vehicles; Servo control of dynamic systems; Visual servo control; Control system200510.1109/CDC.2005.15830162015-12-11