Vision based stabilization of a quadrotor using nested saturation control approach

The problem of estimating position and orientation (pose) of an object in real time constitutes an important issue for vision-based control of robots. In this paper, we present a vision based controller design and its implementation on a quadrotor. The dynamic model is obtained using the well known Euler-Lagrange approach. Experiment results show good performance of the proposed controller using “real-time” optical flow and image processing.