Visual servo control using homography estimation for the stabilization of an X4-flyer

Suter David; Tarek Hamel; Robert Mahony

Visual servo control using homography estimation for the stabilization of an X4-flyer

Suter David^*
, Tarek Hamel
, Robert Mahony

^*Corresponding author for this work

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

29 Citations (Scopus)

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 [14, 1] to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.

Original language	English
Pages (from-to)	2872-2877
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	3
Publication status	Published - 2002
Event	41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: 10 Dec 2002 → 13 Dec 2002

Cite this

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title = "Visual servo control using homography estimation for the stabilization of an X4-flyer",

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 [14, 1] to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.",

keywords = "Homography estimation, Recursive control algorithms, Unmanned aerial vehicle, Visual servo control",

author = "Suter David and Tarek Hamel and Robert Mahony",

year = "2002",

language = "English",

volume = "3",

pages = "2872--2877",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0743-1546",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "41st IEEE Conference on Decision and Control ; Conference date: 10-12-2002 Through 13-12-2002",

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T1 - Visual servo control using homography estimation for the stabilization of an X4-flyer

AU - David, Suter

AU - Hamel, Tarek

AU - Mahony, Robert

PY - 2002

Y1 - 2002

N2 - 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 [14, 1] to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.

AB - 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 [14, 1] to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.

KW - Homography estimation

KW - Recursive control algorithms

KW - Unmanned aerial vehicle

KW - Visual servo control

UR - https://www.scopus.com/pages/publications/0036989819

M3 - Conference article

AN - SCOPUS:0036989819

SN - 0743-1546

VL - 3

SP - 2872

EP - 2877

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 41st IEEE Conference on Decision and Control

Y2 - 10 December 2002 through 13 December 2002

ER -

Visual servo control using homography estimation for the stabilization of an X4-flyer

Abstract

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