Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing
| Autor: | Pascal Morin, Henry de Plinval, Philippe Mouyon |
|---|---|
| Přispěvatelé: | ONERA - The French Aerospace Lab [Toulouse], ONERA, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering 02 engineering and technology robustness Visual servoing [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] Computer Science::Robotics 020901 industrial engineering & automation Robustness (computer science) Control theory Position (vector) 0202 electrical engineering electronic engineering information engineering Point (geometry) Electrical and Electronic Engineering Underactuation business.industry 020208 electrical & electronic engineering Control engineering aerial vehicle stability Nonlinear system Control and Systems Engineering measurement uncertainties Underactuated vehicle business Homography (computer vision) Interpolation |
| Zdroj: | Automatica Automatica, Elsevier, 2017, 77, pp.155-169. ⟨10.1016/j.automatica.2016.11.012⟩ Automatica, 2017, 77, pp.155-169. ⟨10.1016/j.automatica.2016.11.012⟩ |
| ISSN: | 0005-1098 |
| DOI: | 10.1016/j.automatica.2016.11.012⟩ |
| Popis: | International audience; Stabilization of a class of underactuated vehicles with uncertain measurements of the position tracking error is addressed. Nonlinear feedback laws ensuring semi-global stability for a large class of uncertainties on these measurements are derived based on properties of saturated controls. Practical relevance of the proposed results is illustrated by two application examples for Vertical TakeOff and Landing aerial vehicles equipped with a mono-camera sensor: point stabilization in front of a planar target and visual way-points navigation based on interpolation of homography measures. |
| Databáze: | OpenAIRE |
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