@inproceedings{4bc81a6d54614e5883d3dea296b7c026,
title = "Output based observation and control for visual servoing of VTOL UAV's",
abstract = "An Image-Based Visual Servo (IBVS) control strategy for stabilisation of Vertical Take-Off and Landing (VTOL) vehicles with respect to a fixed target is proposed. A visual feature based on the combination of the first order un-normalized spherical moment and the image length of the target image is considered. To avoid the lack of the measurement of the translational velocity of the camera and the thrust of the vehicle, a nonlinear observer-based visual servo controller is proposed. Local asymptotic stability of the system is proved and an estimate of the basin of attraction for the closed-loop system is provided. Simulation results are finally presented to illustrate the performance of the control algorithm.",
keywords = "Autonomous vehicle navigation, guidance and control, Motion control, Sensor integration and perception",
author = "{Le Bras}, Florent and Tarek Hamel and Robert Mahony",
year = "2008",
doi = "10.3182/20080706-5-KR-1001.1328",
language = "English",
isbn = "9783902661005",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
number = "1 PART 1",
booktitle = "Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC",
edition = "1 PART 1",
note = "17th World Congress, International Federation of Automatic Control, IFAC ; Conference date: 06-07-2008 Through 11-07-2008",
}