Abstract
An Image-Based Visual Servo (IBVS) control strategy for stabilisation of Vertical Take-Off and Landing (VTOL) vehicles with respect to a fixed target is proposed. A visual feature based on the combination of the first order un-normalized spherical moment and the image length of the target image is considered. To avoid the lack of the measurement of the translational velocity of the camera and the thrust of the vehicle, a nonlinear observer-based visual servo controller is proposed. Local asymptotic stability of the system is proved and an estimate of the basin of attraction for the closed-loop system is provided. Simulation results are finally presented to illustrate the performance of the control algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
