Title :
Visual servo trajectory tracking for a four rotor VTOL aerial vehicle
Author :
Hamel, Tarek ; Mahony, Robert ; Chriette, Abdelhamid
Author_Institution :
Cemif-SC FRE-CNRS, Evry, France
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 design that is applicable to under-actuated dynamic systems. The work is an extension of the authors earlier work (2000) to the trajectory tracking problem. Semiglobal stability of the closed loop system is proved for bounded trajectories
Keywords :
aircraft control; closed loop systems; computer vision; dynamics; servomechanisms; tracking; closed loop system; dynamics; four rotor VTOL aircraft; image-based control; trajectory tracking; vertical take-off landing aircraft; visual servo control; Australia; Closed loop systems; Costs; Mobile robots; Remotely operated vehicles; Robot sensing systems; Servomechanisms; Servosystems; Trajectory; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013653
