Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
Automatica (Journal of IFAC)
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Quadrocopter control using an on-board video system with off-board processing
Robotics and Autonomous Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Journal of Intelligent and Robotic Systems
3-D relative positioning sensor for indoor flying robots
Autonomous Robots
Trajectory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors
Journal of Intelligent and Robotic Systems
Modeling and Adaptive Tracking Control of a Quadrotor UAV
International Journal of Intelligent Mechatronics and Robotics
Journal of Intelligent and Robotic Systems
Adaptive Nonlinear Stabilization Control for a Quadrotor UAV: Theory, Simulation and Experimentation
Journal of Intelligent and Robotic Systems
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An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics is decoupled using a visual error based on spherical centroid data, along with estimations of the linear velocity and the gravitational inertial direction extracted from image features and an embedded inertial measurement unit. The visual error used compensates for poor conditioning of the image Jacobian matrix by introducing a nonhomogeneous gain term adapted to the visual sensitivity of the error measurements. A nonlinear controller, that ensures exponential convergence of the system considered, is derived for the full dynamics of the system using control Lyapunov function design techniques. Experimental results on a quadrotor UAV, developed by the French Atomic Energy Commission, demonstrate the robustness and performance of the proposed control strategy.