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Dynamic image-based visual servo control using centroid and optic flow features / R. Mahony in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°1 (Janvier/Fevrier 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°1 (Janvier/Fevrier 2008) . - 12 p. Titre : Dynamic image-based visual servo control using centroid and optic flow features Type de document : texte imprimé Auteurs : R. Mahony, Auteur ; P. Corke, Auteur ; T. Hamel, Auteur Année de publication : 2008 Article en page(s) : 12 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : dynamic  systems;  image-based  visual  servo  control;  robotic  vehicles;  nonlinear  adaptive  control Résumé : This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an un-normalized spherical centroid and an optic flow measurement. The image-plane dynamics with respect to force input are dependent on the height of the camera above the target plane. This dependence is compensated by introducing virtual height dynamics and adaptive estimation in the proposed control. A fully nonlinear adaptive control design is provided that ensures asymptotic stability of the closed-loop system for all feasible initial conditions. The choice of control gains is based on an analysis of the asymptotic dynamics of the system. Results from a realistic simulation are presented that demonstrate the performance of the closed-loop system. To the author’s knowledge, this paper documents the first time that an image-based visual servo control has been proposed for a dynamic system using vision measurement for both position and velocity. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Dynamic image-based visual servo control using centroid and optic flow features [texte imprimé] / R. Mahony, Auteur ; P. Corke, Auteur ; T. Hamel, Auteur . - 2008 . - 12 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°1 (Janvier/Fevrier 2008) . - 12 p. Mots-clés : dynamic  systems;  image-based  visual  servo  control;  robotic  vehicles;  nonlinear  adaptive  control Résumé : This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an un-normalized spherical centroid and an optic flow measurement. The image-plane dynamics with respect to force input are dependent on the height of the camera above the target plane. This dependence is compensated by introducing virtual height dynamics and adaptive estimation in the proposed control. A fully nonlinear adaptive control design is provided that ensures asymptotic stability of the closed-loop system for all feasible initial conditions. The choice of control gains is based on an analysis of the asymptotic dynamics of the system. Results from a realistic simulation are presented that demonstrate the performance of the closed-loop system. To the author’s knowledge, this paper documents the first time that an image-based visual servo control has been proposed for a dynamic system using vision measurement for both position and velocity. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]