DocumentCode :
3228539
Title :
Visual servoing for a scale model autonomous helicopter
Author :
Chriette, A. ; Hamel, T. ; Mahony, R.
Author_Institution :
CEMIF, Evry Univ., France
Volume :
2
fYear :
2001
fDate :
2001
Firstpage :
1701
Abstract :
A control design to stabilise a reduced scale autonomous helicopter equipped with a camera is presented. The proposed algorithm is motivated by recent work in image-based visual servoing control for under-actuated dynamic systems. This work is extended by considering models that contain weakly nonminimum phase zero dynamics. This is an important class of systems since an offset between the camera and the centre of mass for a typical ´dynamic´ autonomous vehicle will result in zero dynamics occurring in the image dynamics. In this paper we propose a simplified model of dynamics of the helicopter and show that by placing some constraints in the choice of the position of the camera we can minimise the effect of the zero dynamics.
Keywords :
aerospace robotics; aircraft control; helicopters; mobile robots; robot dynamics; robot vision; stability; control design; dynamic autonomous vehicle; helicopter dynamics; helicopter robot; image dynamics; image-based visual servoing control; reduced scale autonomous helicopter; scale model autonomous helicopter; stabilisation; under-actuated dynamic systems; weakly nonminimum phase zero dynamics; Acceleration; Cameras; Constraint theory; Control systems; Equations; Feedback; Helicopters; Unmanned aerial vehicles; Vehicle dynamics; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-6576-3
Type :
conf
DOI :
10.1109/ROBOT.2001.932856
Filename :
932856
Link To Document :
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