Visual servoing with orientation limits of a X4-flyer

In this paper, we study the dynamics and the control using visual features of a four rotor vertical take-off and landing (VTOL) vehicle known as the X4-flyer while stabilizing with quasi-stationary flight above a planar target. A new control strategy is presented using the homography matrix, it is based on saturation functions for bounding the orientation of the UAV (unmanned air vehicle) in order to keep the target in the camera´s field of view.