Vision based control of aerial robotic vehicles using the port Hamiltonian framework

Mahony, RobertStramigioli, StefanoTrumpf, Jochen2015-12-10December 1http://hdl.handle.net/1885/64408This paper investigates the formulation of sensor based control for aerial robotic vehicles based on the port Hamiltonian framework. The paper considers the particular case of vision based control and develops a model for an "infinite dimensional" visualKeywords: Aerial robotics; Hamiltonian formalism; Image plane; Infinite dimensional; Sensor-based control; Vision based control; Robotics; HamiltoniansVision based control of aerial robotic vehicles using the port Hamiltonian framework201110.1109/CDC.2011.61605582016-02-24