Henry de Plinval

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— The paper addresses the control of Vertical Take Off and Landing (VTOL) Underactuated Autonomous Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera and rate gyros. The objective is to stabilize the vehicle to the pose associated with a visual image of a planar target. By using the homography matrix computed from(More)
— The paper concerns the stabilization of thrust-propelled underactuated vehicles in the context of sensor-based control. First, a class of nonlinear feedback laws that ensure semi-global stabilization despite possibly large uncertainties on the position measurements is proposed. Then, application to the visual servoing of a Vertical TakeOff and Landing(More)
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