Adaptive filtering and image based visual servo control of a ducted fan flying robot
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]
|Collections||ANU Research Publications|
|Source:||Proceedings of the 45th IEEE Conference on Decision and Control|
|01_Le Bras_Adaptive_filtering_and_image_2006.pdf||1.04 MB||Adobe PDF||Request a copy|
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