This paper proposes an image-based visual servo (IBVS) controller for the 3D translationalmotion of the quadrotor unmanned aerial vehicle (UAV). The main purpose of this paper is toprovide asymptotic stability for vision-based tracking control of the quadrotor in the presenceof uncertainty in the dynamic model of the system. The aim of the paper also includes the useof ow of image features as the velocity information to compensate for the unreliable linearvelocity data measured by accelerometers. For this purpose, the mathematical model of thequadrotor is presented based on the optic ow of image features which provides the possibilityof designing a velocity-free IBVS controller with considering the dynamics of the robot. Theimage features are de ned from a suitable combination of perspective image moments withoutusing the model of the object. This property allows the application of the proposed controllerin unknown places. The controller is robust with respect to the uncertainties in the transla-tional dynamics of the system associated with the target motion, image depth and externaldisturbances. Simulation results and a comparison study are presented which demonstrate thee ectiveness of the proposed approach.
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