Referenced Items are not available for this document.
An image-based "eye-in-hand" visual servo-control design is proposed for underactuated rigid-body dynamics. The dynamic model considered is motivated by recent work on vertical takeoff and landing aerial robotic vehicles. The task considered is that of tracking parallel linear visual features. The proposed design exploits the geometry of the task considered and passivity-like properties of rigid-body dynamics to derive a control Lyapunov function using backstepping techniques.
Published in:
Robotics, IEEE Transactions on
(Volume:21
,
Issue:
2
)
Date of Publication: April 2005
- Page(s):
- 227 - 239
- ISSN :
- 1552-3098
- INSPEC Accession Number:
- 8364971
- Digital Object Identifier :
- 10.1109/TRO.2004.835446
- Date of Current Version :
- 11 April 2005
- Issue Date :
- April 2005
- Sponsored by :
- IEEE Robotics and Automation Society
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