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
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