TY - JOUR
T1 - Visual servo control using homography estimation for the stabilization of an X4-flyer
AU - David, Suter
AU - Hamel, Tarek
AU - Mahony, Robert
PY - 2002
Y1 - 2002
N2 - In this paper we study image based visual servo (IBVS) control of a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer. The approach taken is tailored to planar visual targets and is based on a reformulation and extension of 2 1/2 D image-based visual servo design [14, 1] to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.
AB - In this paper we study image based visual servo (IBVS) control of a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer. The approach taken is tailored to planar visual targets and is based on a reformulation and extension of 2 1/2 D image-based visual servo design [14, 1] to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.
KW - Homography estimation
KW - Recursive control algorithms
KW - Unmanned aerial vehicle
KW - Visual servo control
UR - http://www.scopus.com/inward/record.url?scp=0036989819&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:0036989819
SN - 0743-1546
VL - 3
SP - 2872
EP - 2877
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
T2 - 41st IEEE Conference on Decision and Control
Y2 - 10 December 2002 through 13 December 2002
ER -