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

T. Hamel; R. Mahony

doi:10.1109/robot.2004.1307393

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

T. Hamel^*, R. Mahony

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

16 Citations (Scopus)

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.

Original language	English
Pages (from-to)	2229-2235
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	3
DOIs	https://doi.org/10.1109/robot.2004.1307393
Publication status	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004

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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.",

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AB - 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.

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

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