Hamel, TarekMahony, RobertChriette, Abdelhamid2015-12-132015-12-13May 11 2000-7803-7272-7http://hdl.handle.net/1885/74475An 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.Keywords: Closed loop control systems; Servomechanisms; System stability; Tracking (position); Trajectories; Trajectory tracking task; Visual servo control design; Computer vision20022015-12-11