Visual servo control for the hovering of all outdoor robotic airship

Author

Azinheira, José R. ; Rives, Patrick ; Carvalho, José R H ; Silveira, Geraldo F. ; De Paiva, Ely C. ; Bueno, Samuel S.

Author_Institution

Instituto Superior Tecnico, Lisbon, Portugal

Volume

3

fYear

2002

fDate

2002

Firstpage

2787

Lastpage

2792

Abstract

Addresses the issue of automatic hovering of an outdoor autonomous airship using image-based visual servoing. The hovering controller is designed using a full dynamic model of the airship, in a PD error feedback scheme, taking the visual signals as output and extracted from an on-board camera. The behavior and stability of the airship motion during the task execution and subjected to the wind disturbance is studied. The approach is finally validated in simulation using an accurate airship model

Keywords

aerospace robotics; control system synthesis; mobile robots; motion control; nonlinear dynamical systems; optimal control; remotely operated vehicles; robot vision; robust control; PD error feedback scheme; aerial unmanned robots; full dynamic model; hovering; outdoor robotic airship; vision-based control; visual servo control; Automatic control; Cameras; Error correction; Output feedback; Robot vision systems; Robotics and automation; Servosystems; Signal design; Stability; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013654

Filename

1013654