Title :
Visual servo control using homography estimation for the stabilization of an X4-flyer
Author :
Suter, David ; Hamel, Tarek ; Mahony, Robert
Author_Institution :
Dep. of Elec. & Comp. Eng., Monash Univ., Clayton, Vic., Australia
Abstract :
In this paper we study image based visual servo (IBVS) control of a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer. The approach taken is tailored to planar visual targets and is based on a reformulation and extension of 2 1/2 D image-based visual servo design to the control of dynamic under-actuated systems. Exponential stability of the closed loop system is proved and simulation results are presented.
Keywords :
closed loop systems; digital simulation; nonlinear control systems; remotely operated vehicles; servomechanisms; stability; X4-flyer; closed loop system; exponential stability; homography estimation; image-based visual servo design; simulation results; stabilization; vertical take-off and landing craft; visual servo control; Australia; Calibration; Cameras; Control systems; Motion control; Nonlinear dynamical systems; Servomechanisms; Servosystems; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184284
