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Pure 2D Visual Servo control for a class of under-actuated dynamic systems

Hamel, Tarek; Mahony, Robert


A pure image-based strategy for visual servo control of a class of dynamic systems is proposed. The proposed design concerns the dynamics of unmanned aerial vehicles capable of quasi-stationary flight (hover and near hover flight). The visual servo control task considered is to locate the camera relative to a stationary target. The paper extends earlier work, by weakening the assumption on the construction of the visual error used. In prior work some inertial information was used in the error...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Conference paper
Source: Proceedings of the 2004 IEEE International Conference on Robotics and Automation


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