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Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
Abstract
A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-hand" systems where the camera is fixed to a rigid body with actuated dynamics. The control design is motivated by a theoretical analysis of the dynamic equations of motion of a rigid body and exploits passivity-like properties of these dynamics to derive a Lyapunov control algorithm using robust backstepping techniques. The proposed control is novel in considering the full dynamic system incorporating all degrees of freedom (albeit for a restricted class of dynamics) and in not requiring measurement of the relative depths of the observed image points. A motivating application is the stabilization of a scale model autonomous helicopter over a marked landing pad.
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Citations
Cited by
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow
Herissé, B., Hamel, T., Mahony, R., & Russotto, F.-X. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2163435 · Cited by 347
Self-citationChaumette, F. (2007) · Modeling, Performance Analysis and Control of Robot Manipulators · doi:10.1002/9780470612286.ch6 · Cited by 5
Metadata
- Authors
- Hamel, T., & Mahony, R.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2002-04
- Volume
- 18
- Issue
- 2
- Pages
- 187-198
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2122147410
- Cited by
- 308
- References
- 0
- FWCI
- 5.99
- Type
- journal article
- Language
- en
- Open access
- closed
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- Hamel, T., & Mahony, R. (2002). Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2002.999647
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