DocumentCode
1870462
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
Volume
3
fYear
2002
fDate
2002
Firstpage
2781
Lastpage
2786
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013653
Filename
1013653
Link To Document