This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is used to guide the rotorcraft during a 3D-trajectory tracking task. In the sequel, the simulation framework and the results obtained using it are presented and discussed, validating the proposed controller when a visual system is used to determine the helicopter pose information
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