Visual servo control using homography estimation for the stabilization of an X4-flyer - Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
نویسندگان
چکیده
In this paper we study image based visual servo (IBVS) control of a four rotor vertical takeoff and landing (VTOL) craft known as an X4-fEyer. The approach taken is tailored to planar visual targets and is based on a reformulation and extension of 2 2 0 image-based visual servo design [14, 11 to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.
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