DocumentCode
3254060
Title
Visual servo control using homography estimation for the stabilization of an X4-flyer
Author
Suter, David ; Hamel, Tarek ; Mahony, Robert
Author_Institution
Dep. of Elec. & Comp. Eng., Monash Univ., Clayton, Vic., Australia
Volume
3
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
2872
Abstract
In this paper we study image based visual servo (IBVS) control of a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer. The approach taken is tailored to planar visual targets and is based on a reformulation and extension of 2 1/2 D image-based visual servo design to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.
Keywords
closed loop systems; digital simulation; nonlinear control systems; remotely operated vehicles; servomechanisms; stability; X4-flyer; closed loop system; exponential stability; homography estimation; image-based visual servo design; simulation results; stabilization; vertical take-off and landing craft; visual servo control; Australia; Calibration; Cameras; Control systems; Motion control; Nonlinear dynamical systems; Servomechanisms; Servosystems; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184284
Filename
1184284
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