Adaptive visual servo control for a quadrotor helicopter

An adaptive image-based visual servo (IBVS) control for a quadrotor helicopter is proposed in this paper. By employing the adaptive gain in the IBVS control method, performance and stability of the under-actuated system are improved. The performance of the overall approach is validated by numerical and vision integrated hardware-in-the-loop-simulation (HILS) with the nonlinear quadrotor helicopter dynamics.