By Topic

Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
T. Hamel ; CEMIF-SC, Universitd d'Evry, Courcouronnes, France ; R. Mahony

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

Published in:

IEEE Transactions on Robotics and Automation  (Volume:18 ,  Issue: 2 )