27th Congress of International Council of the Aeronautical Sciences, 19 - 24 September 2010, Nice, France
Paper ICAS 2010-6.3.4

VISION BASED 3D TRACKING CONTROL OF UAV

J. T. Khan
Univ. of Toronto, Canada

Keywords: vision-based control, ibvs control, uav control

Two IBVS controllers are designed to track a target moving at constant velocity. The driving force, designed using translational dynamics, is used to obtain desired orientation and thrust. An inner control loop is used to generate the control torque to guarantee the convergence of actual attitude to the desired one.

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