Dynamic visual servoing of a rotary-wing unmanned aerial vehicle without velocity measurement

![CDATA[This paper presents a dynamic image-based visual servoing (IBVS) law for the quadrotor unmanned aerial vehicle (UAV) equipped with a single downward facing camera. The objective of the IBVS controller is to regulate the relative position and yaw of the vehicle to a planar target consisting of multiple points. A set of image moment features defined in the image plane of a virtual camera with zero roll and pitch motion are used for visual servoing. An output feedback control law is developed to remove the requirement of translational velocity measurement. Various system uncertainties are considered and treated as unknown parameters. The IBVS law is also adaptive to those system parameters. The asymptotic stability of the error dynamics is proven and a numerical simulation is presented to demonstrate the controller’s performance.]]