Title :
Visual servo control for the hovering of all outdoor robotic airship
Author :
Azinheira, José R. ; Rives, Patrick ; Carvalho, José R H ; Silveira, Geraldo F. ; De Paiva, Ely C. ; Bueno, Samuel S.
Author_Institution :
Instituto Superior Tecnico, Lisbon, Portugal
Abstract :
Addresses the issue of automatic hovering of an outdoor autonomous airship using image-based visual servoing. The hovering controller is designed using a full dynamic model of the airship, in a PD error feedback scheme, taking the visual signals as output and extracted from an on-board camera. The behavior and stability of the airship motion during the task execution and subjected to the wind disturbance is studied. The approach is finally validated in simulation using an accurate airship model
Keywords :
aerospace robotics; control system synthesis; mobile robots; motion control; nonlinear dynamical systems; optimal control; remotely operated vehicles; robot vision; robust control; PD error feedback scheme; aerial unmanned robots; full dynamic model; hovering; outdoor robotic airship; vision-based control; visual servo control; Automatic control; Cameras; Error correction; Output feedback; Robot vision systems; Robotics and automation; Servosystems; Signal design; Stability; Visual servoing;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013654
