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Mathematical Problems in Engineering
Volume 2015, Article ID 954976, 9 pages
Research Article

Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle

1Young Researchers and Elite Club, Islamic Azad University, Ilkhchi Branch, Ilkhchi 5358186937, Iran
2Department of Robotics and Mechatronics, Nazarbayev University, Astana 010000, Kazakhstan

Received 29 June 2015; Accepted 6 September 2015

Academic Editor: Haranath Kar

Copyright © 2015 Hamed Jabbari Asl and Ton Duc Do. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes an image-based visual servo (IBVS) controller for the 3D translational motion of the quadrotor unmanned aerial vehicles (UAV). The main purpose of this paper is to provide asymptotic stability for vision-based tracking control of the quadrotor in the presence of uncertainty in the dynamic model of the system. The aim of the paper also includes the use of flow of image features as the velocity information to compensate for the unreliable linear velocity data measured by accelerometers. For this purpose, the mathematical model of the quadrotor is presented based on the optic flow of image features which provides the possibility of designing a velocity-free IBVS controller with considering the dynamics of the robot. The image features are defined from a suitable combination of perspective image moments without using the model of the object. This property allows the application of the proposed controller in unknown places. The controller is robust with respect to the uncertainties in the translational dynamics of the system associated with the target motion, image depth, and external disturbances. Simulation results and a comparison study are presented which demonstrate the effectiveness of the proposed approach.