Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles

• Main Authors: Xie, Hui, Lynch, Alan F., Low, Kin Huat, Mao, Shixin
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Image-Based Visual Servoing (IBVS); Output-Feedback Control
• Online Access: https://hdl.handle.net/10356/154484
• Institution: Nanyang Technological University

This brief presents an adaptive output feedback image-based visual servoing (IBVS) law for a quadrotor unmanned aerial vehicle. The control objective is to regulate the relative 3-D position and yaw of the vehicle to a planar horizontal visual target consisting of multiple points. The control is imp...