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Lateral control of an aerial unmanned robot using visual servoing techniques

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6 Author(s)
G. F. Silveira ; Univ. Estadual de Campinas, Sao Paulo ; J. Reginaldo ; H. Carvalho ; M. K. Madrid
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This work addresses the issue of the lateral control of an outdoor robotic airship while following a predefined path using visual servoing techniques. The vision-based control application is based on an interaction matrix related to line features extracted from an on-board camera as feedback signals. An output LQR controller for the visual servo control is designed using the lateral dynamic model of the airship. The proposed approach is validated using a realistic simulator of the AS-800 unmanned airship

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Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

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