Visual Servoing of an Under-Actuated Dynamic Rigid-Body System: An Image-Based Approach
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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...[Show more]
dc.contributor.author | Hamel, Tarek | |
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dc.contributor.author | Mahony, Robert | |
dc.date.accessioned | 2015-12-13T22:19:36Z | |
dc.date.available | 2015-12-13T22:19:36Z | |
dc.identifier.issn | 1042-296X | |
dc.identifier.uri | http://hdl.handle.net/1885/71895 | |
dc.description.abstract | 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. | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.source | IEEE Transactions on Robotics and Automation | |
dc.subject | Keywords: Algorithms; Closed loop control systems; Control system synthesis; Equations of motion; Lyapunov methods; Nonlinear control systems; Robustness (control systems); Velocity measurement; Video cameras; Image-based visual servo; Under-actuated dynamic rigid- Image-based visual servo (IBVS); Nonlinear control; Rigid-body dynamics; Under-actuated systems | |
dc.title | Visual Servoing of an Under-Actuated Dynamic Rigid-Body System: An Image-Based Approach | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
local.identifier.citationvolume | 18 | |
dc.date.issued | 2002 | |
local.identifier.absfor | 080101 - Adaptive Agents and Intelligent Robotics | |
local.identifier.absfor | 010203 - Calculus of Variations, Systems Theory and Control Theory | |
local.identifier.absfor | 080104 - Computer Vision | |
local.identifier.ariespublication | MigratedxPub2938 | |
local.type.status | Published Version | |
local.contributor.affiliation | Hamel, Tarek, Nice Sophia Antipolis University | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
local.bibliographicCitation.issue | 2 | |
local.bibliographicCitation.startpage | 187 | |
local.bibliographicCitation.lastpage | 198 | |
local.identifier.doi | 10.1109/TRA.2002.999647 | |
dc.date.updated | 2015-12-11T07:48:55Z | |
local.identifier.scopusID | 2-s2.0-0036529596 | |
Collections | ANU Research Publications |
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