Output feedback image-based visual servoing of rotorcrafts

• Main Authors: Li, Jianan, Xie, Hui, Ma, Rui, Low, Kin Huat
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Image-based Visual Servoing; DRNTU::Engineering::Mechanical engineering; Rotorcraft UAV
• Online Access: https://hdl.handle.net/10356/87223; http://hdl.handle.net/10220/48317
• Institution: Nanyang Technological University

This paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its pos...