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An image-based visual servo control design is proposed for a four rotor vertical take-off and landing (VTOL) craft, known as an X4-flyer, accomplishing a trajectory tracking task. The approach taken is an image-based visual servo design that is applicable to under-actuated dynamic systems. The work is an extension of the authors earlier work (2000) to the trajectory tracking problem. Semiglobal stability of the closed loop system is proved for bounded trajectories.
Hamel et al. (Wed,) studied this question.