Visual servoing is an approach to control motion of a helicopter using information feedback from a camera mounted on it. For their tremendous potential applications in various areas including environmental monitoring and anti-terrorism, unmanned small helicopters are being extensively studied in robotics and control in recent years. However, the research advance in dynamic control of small helicopters is limited due to highly coupled non- linear dynamics and the existence of various uncertain- ties. Many people studied controller design based on a Publisher Item Identifier. linearized or simplified model, but the controllers developed under linearized models cannot guarantee dynamic stability rigorously. Another effort is application of modern non-linear control theory to helicopter control because small helicopter are good test beds for sophisticated control techniques for their small size and highly coupled dynamics [4].

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