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Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 4806769, 6 pages
Research Article

Imaged-Based Visual Servo Control for a VTOL Aircraft

1College of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
2College of Communication and Electronic Engineering, Qiqihar University, Qiqihar 161006, China

Correspondence should be addressed to Liying Zou

Received 6 May 2017; Revised 5 August 2017; Accepted 23 August 2017; Published 28 September 2017

Academic Editor: Andrea Crivellini

Copyright © 2017 Liying Zou et al. 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 presents a novel control strategy to force a vertical take-off and landing (VTOL) aircraft to accomplish the pinpoint landing task. The control development is based on the image-based visual servoing method and the back-stepping technique; its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which does not contain the depth information of the feature point. The novelty of the proposed method is to extend the image-based visual servoing technique to the VTOL aircraft control. In addition, the Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servoing system, while the image error can converge to zero. Furthermore, simulations have been also conducted to demonstrate the performances of the proposed method.