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
  • [41] Adaptive Dynamic Tracking Control for Uncertain Nonholonomic Mobile Robots Based on Visual Servoing
    Yang, Fang
    Wang, Chaoli
    Chen, Hua
    Zhang, Dongkai
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 3047 - 3051
  • [42] Review of Nonlinear Tracking and Setpoint Control Approaches for Autonomous Underactuated Marine Vehicles
    Ashrafiuon, Hashem
    Muske, Kenneth R.
    McNinch, Lucas C.
    2010 AMERICAN CONTROL CONFERENCE, 2010, : 5203 - 5211
  • [43] Nonlinear Positioning Control for Underactuated Unmanned Surface Vehicles in the Presence of Environmental Disturbances
    Qu, Yang
    Cai, Lilong
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 27 (06) : 5381 - 5391
  • [44] Position Based Visual Servoing with Artificial Neural Networks for Quadrotor-type Unmanned Aerial Vehicles
    Unlu, Aybuke
    Yuksel, Tolga
    29TH IEEE CONFERENCE ON SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS (SIU 2021), 2021,
  • [45] Neural Adaptive Flocking Control of Networked Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Dynamics
    Peng, Zhouhua
    Wang, Dan
    Lan, Weiyao
    Sun, Gang
    Yan, Langtao
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 2865 - 2870
  • [46] Sliding mode adaptive neural network control for hybrid visual servoing of underwater vehicles
    Gao, Jian
    An, Xuman
    Proctor, Alison
    Bradley, Colin
    OCEAN ENGINEERING, 2017, 142 : 666 - 675
  • [47] Backstepping Neurodynamics based Position-Tracking Control of Underactuated Autonomous Surface Vehicles
    Pan, Chang-Zhong
    Lai, Xu-Zhi
    Yang, Simon X.
    Wu, Min
    2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 2845 - 2850
  • [48] Catenary-based visual servoing for tether shape control between underwater vehicles
    Laranjeira, Matheus
    Dune, Claire
    Hugel, Vincent
    OCEAN ENGINEERING, 2020, 200
  • [49] Catenary-based visual servoing for tether shape control between underwater vehicles
    Laranjeira, Matheus
    Dune, Claire
    Hugel, Vincent
    Ocean Engineering, 2021, 200
  • [50] Position and Attitude Control of Eye-In-Hand System by Visual Servoing using Binocular Visual Space
    Ozato, Atsushi
    Maru, Noriaki
    2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING, 2014,
12345