Nonlinear control of underactuated vehicles with uncertain position measurements and application to visual servoing

被引：0
|
作者：
de Plinval, Henry [1 ]
Morin, Pascal [2 ]
Mouyon, Philippe [1 ]
机构：
[1] ONERA French Aerosp Lab, Toulouse, France
[2] UPMC, ISIR, Paris, France
来源：
2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年
关键词：
TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper concerns the stabilization of thrust-propelled underactuated vehicles in the context of sensor-based control. First, a class of nonlinear feedback laws that ensure semi-global stabilization despite possibly large uncertainties on the position measurements is proposed. Then, application to the visual servoing of a Vertical Take-Off and Landing (VTOL) drone with a video camera is considered. In particular, it is shown that semi-global stabilization can be achieved, based on homography meaurements, with little information on the environment. Simulation results show the effectiveness of the approach.
引用
收藏
页码：3253 / 3259
页数：7
相关论文
共 50 条
  • [1] Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing
    de Plinval, Henry
    Morin, Pascal
    Mouyon, Philippe
    AUTOMATICA, 2017, 77 : 155 - 169
  • [2] Supervisory control of uncertain underactuated vehicles
    Aguiar, AP
    Hespanha, JP
    ISCCSP : 2004 FIRST INTERNATIONAL SYMPOSIUM ON CONTROL, COMMUNICATIONS AND SIGNAL PROCESSING, 2004, : 3 - 6
  • [3] Sliding Mode Control of Uncertain Multivariable Nonlinear Systems Applied to Uncalibrated Robotics Visual Servoing
    Oliveira, Tiago Roux
    Peixoto, Alessandro Jacoud
    Leite, Antonio Candea
    Hsu, Liu
    2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, : 71 - 76
  • [4] The Hand Position Concept for Control of Underactuated Underwater Vehicles
    Matous, Josef
    Paliotta, Claudio
    Pettersen, Kristin Ytterstad
    Varagnolo, Damiano
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2024, 32 (06) : 2223 - 2239
  • [5] Nonlinear PI robust adaptive control for uncertain multiple-input multiple-output nonlinear systems: Application to the visual servoing problem
    Psillakis, Haris E.
    Oikonomidis, Konstantinos A.
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2022, 36 (02) : 209 - 229
  • [6] Visual servoing via nonlinear predictive control
    Allibert G.
    Courtial E.
    Chaumette F.
    Lecture Notes in Control and Information Sciences, 2010, 401 : 375 - 393
  • [7] Position control of an Omnidirectional Robot through Visual Servoing
    Figueroa-Saire, Pedro
    Patino-Escarcina, Raquel
    2021 LATIN AMERICAN ROBOTICS SYMPOSIUM / 2021 BRAZILIAN SYMPOSIUM ON ROBOTICS / 2021 WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2021), 2021, : 258 - 263
  • [8] Nonlinear control of three-dimensional underactuated vehicles
    Fetzer, Karl L.
    Nersesov, Sergey
    Ashrafiuon, Hashem
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2020, 30 (04) : 1607 - 1621
  • [9] Stabilization of Uncertain Feedforward Nonlinear Systems With Application to Underactuated Systems
    Ye, Huawen
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2019, 64 (08) : 3484 - 3491
  • [10] A Self-triggered Position Based Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles
    Heshmati-alamdari, Shahab
    Eqtami, Alina
    Karras, George C.
    Dimarogonas, Dimos, V
    Kyriakopoulos, Kostas J.
    MACHINES, 2020, 8 (02)
12345