Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments
Florent Le Bras, Robert E. Mahony, Tarek Hamel, Paolo Binetti · International Journal of Optomechatronics · 2008
This article considers the question of dynamic image-based visual servo control for a vertical take-off and landing unmanned aerial vehicle. The visual targets considered are colored blobs on a flat surface to which the normal direction is known. A fully nonlinear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a modified first order spherical moment for position regulation and optic flow for velocity damping.