Image-based visual servo control for circular trajectories for a fixed-wing aircraft

Florent Le Bras*, Tarek Hamel, Robert Mahony

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    9 Citations (Scopus)

    Abstract

    This paper describes a new visual-servo control algorithm to stabilize an aircraft along a circular trajectory using a single visual landmark on textured flat ground. The control algorithm requires a sensor suite consisting of inertial measurement unit, along with a single embedded camera capable of detecting and tracking a visual feature and estimating optic flow. The proposed control algorithm does not require independent position or velocity measurements and functions effectively in the absence of global positioning system (GPS) signals.We prove local asymptotic convergence of the closed-loop system and provide simulation results to illustrate the closed-loop system performance.

    Original languageEnglish
    Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3430-3435
    Number of pages6
    ISBN (Print)9781424438716
    DOIs
    Publication statusPublished - 2009
    Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
    Duration: 15 Dec 200918 Dec 2009

    Publication series

    NameProceedings of the IEEE Conference on Decision and Control
    ISSN (Print)0743-1546
    ISSN (Electronic)2576-2370

    Conference

    Conference48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
    Country/TerritoryChina
    CityShanghai
    Period15/12/0918/12/09

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