Title :
Adaptive visual servo control for a quadrotor helicopter
Author :
Lee, Daewon ; Kim, H. Jin
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
Abstract :
An adaptive image-based visual servo (IBVS) control for a quadrotor helicopter is proposed in this paper. By employing the adaptive gain in the IBVS control method, performance and stability of the under-actuated system are improved. The performance of the overall approach is validated by numerical and vision integrated hardware-in-the-loop-simulation (HILS) with the nonlinear quadrotor helicopter dynamics.
Keywords :
adaptive control; helicopters; nonlinear control systems; stability; visual servoing; IBVS control method; adaptive image-based visual servo control; hardware-in-the-loop-simulation; nonlinear quadrotor helicopter dynamics; under-actuated system; Adaptive systems; Cameras; Helicopters; Pixel; Unmanned aerial vehicles; Visual servoing; Visualization; Quadrotor; UAV; Visual servoing;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
