Visual servo trajectory tracking for a four rotor VTOL aerial vehicle

Tarek Hamel; Robert Mahony; Abdelhamid Chriette

doi:10.1109/ROBOT.2002.1013653

Visual servo trajectory tracking for a four rotor VTOL aerial vehicle

Tarek Hamel
, Robert Mahony
, Abdelhamid Chriette

Research output: Contribution to journal › Article › peer-review

66 Citations (Scopus)

Abstract

An 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.

Original language	English
Pages (from-to)	2781-2786
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.2002.1013653
Publication status	Published - 2002

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10.1109/ROBOT.2002.1013653

Cite this

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title = "Visual servo trajectory tracking for a four rotor VTOL aerial vehicle",

abstract = "An 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.",

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AU - Hamel, Tarek

AU - Mahony, Robert

AU - Chriette, Abdelhamid

PY - 2002

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AB - An 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.

UR - https://www.scopus.com/pages/publications/0036058201

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DO - 10.1109/ROBOT.2002.1013653

M3 - Article

AN - SCOPUS:0036058201

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EP - 2786

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

ER -

Visual servo trajectory tracking for a four rotor VTOL aerial vehicle

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