Skip navigation
Skip navigation

Adaptive filtering and image based visual servo control of a ducted fan flying robot

Le Bras, Florent; Mahony, Robert; Hamel, Tarek; Binetti, Paolo

Description

This paper considers the question of fully image based visual servo control for a Vertical Takeoff and landing (VTOL) Unmanned Aerial Vehicle. The visual targets considered are coloured blobs on a flat surface to which the normal direction is known. A fully non-linear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a first order spherical moment for position and an...[Show more]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
URI: http://hdl.handle.net/1885/36992
Source: Proceedings of the 45th IEEE Conference on Decision and Control

Download

File Description SizeFormat Image
01_Le Bras_Adaptive_filtering_and_image_2006.pdf1.04 MBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator