Adaptive homography-based visual servo tracking control via a quaternion formulation / Guoqiang Hu in IEEE Transactions on control systems technology, Vol. 18 N° 1 (Janvier 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 128-135 Titre : Adaptive homography-based visual servo tracking control via a quaternion formulation Type de document : texte imprimé Auteurs : Guoqiang Hu, Auteur ; Nicholas Gans, Auteur ; Norman Fitz-Coy, Auteur Année de publication : 2011 Article en page(s) : pp. 128-135 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive control Lyapunov methods Quaternion representation Tracking Visual servoing Index. décimale : 629.1 Résumé : In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), and Lyapunov methods are employed to facilitate the control design and the stability analysis. An adaptive estimation law is designed to compensate for the lack of unknown depth information. Experimental results are provided to demonstrate the performance of the visual servo tracking controller. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4895678 [article] Adaptive homography-based visual servo tracking control via a quaternion formulation [texte imprimé] / Guoqiang Hu, Auteur ; Nicholas Gans, Auteur ; Norman Fitz-Coy, Auteur . - 2011 . - pp. 128-135. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 128-135 Mots-clés : Adaptive control Lyapunov methods Quaternion representation Tracking Visual servoing Index. décimale : 629.1 Résumé : In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), and Lyapunov methods are employed to facilitate the control design and the stability analysis. An adaptive estimation law is designed to compensate for the lack of unknown depth information. Experimental results are provided to demonstrate the performance of the visual servo tracking controller. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4895678

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