Dynamic image-based tracking control for VTOL UAVs

A. Abdessameud, F. Janabi-Sharifi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations


This paper presents an image-based tracking control algorithm for unmanned aerial vehicles (UAVs) capable of vertical take-off and landing (VTOL). Based on the control design architecture presented in [1] and [2], we propose control schemes allowing the VTOL UAV to track a moving target using a camera and an Inertial Measurement Unit (IMU). Perspective image moments with an appropriate projection are used to derive simple dynamics of the image features used for feedback. The proposed control scheme incorporates estimates of the acceleration of the target and does not rely on linear-velocity measurements. Simulation results are provided to validate the theoretical results.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781467357173
StatePublished - 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other52nd IEEE Conference on Decision and Control, CDC 2013

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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