NDLI: Pure 2D visual servo control for a class of under-actuated dynamic systems

Content Provider	IEEE Xplore Digital Library
Author	Hamel, T. Mahony, R.
Copyright Year	2004
Description	Author affiliation: UNSA-CNRS, Sophia Antipolis, France (Hamel, T.)
Abstract	A pure image-based strategy for visual servo control of a class of dynamic systems is proposed. The proposed design concerns the dynamics of unmanned aerial vehicles capable of quasi-stationary flight (hover and near hover flight). The visual servo control task considered is to locate the camera relative to a stationary target. The paper extends earlier work, by weakening the assumption on the construction of the visual error used. In prior work some inertial information was used in the error construction to guarantee the passivity properties of the control design. In this paper the visual error is defined purely in terms of the 2D image features derived from, the camera signal.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2229
Ending Page	2235
File Size	504486
Page Count	7
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1307393
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Servosystems Vehicle dynamics Unmanned aerial vehicles Control systems Cameras Control design Robot vision systems Kinematics Motion estimation State estimation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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