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Adaptive depth estimation in image based visual servo control of dynamic systems

Mahony, R., Von Brasch, A., Corke, Peter, & Hamel, T. (2005) Adaptive depth estimation in image based visual servo control of dynamic systems. In 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05, IEEE (Institute of Electrical and Electronics Engineers, Inc.), Seville, Spain, pp. 5372-5378.

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Abstract

This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system. © 2005 IEEE.

Impact and interest:

3 citations in Scopus
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1 citations in Web of Science®

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ID Code: 32717
Item Type: Conference Paper
Keywords: Non linear adaptive control, robotic vehicles, authomated aerial robots
DOI: 10.1109/CDC.2005.1583016
ISBN: 0780395670 Print
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Copyright Owner: Copyright 2005 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 28 Jun 2010 14:52
Last Modified: 01 Mar 2012 00:13

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