• DocumentCode
    1670397
  • 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
  • fYear
    2010
  • Firstpage
    1049
  • Lastpage
    1052
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • Filename
    5669677
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1670397