Dynamic Image-based visual servo control using centroid and optic flow features
Mahony, Robert, Corke, Peter, & Hamel, Tarek (2008) Dynamic Image-based visual servo control using centroid and optic flow features. Journal of Dynamic Systems, Measurement, and Control, 130(1), 011005-1.
This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an unnormalized spherical centroid and an optic flow measurement. The image-plane dynamics with respect to force input are dependent on the height of the camera above the target plane. This dependence is compensated by introducing virtual height dynamics and adaptive estimation in the proposed control. A fully nonlinear adaptive control design is provided that ensures asymptotic stability of the closed-loop system for all feasible initial conditions. The choice of control gains is based on an analysis of the asymptotic dynamics of the system. Results from a realistic simulation are presented that demonstrate the performance of the closed-loop system. To the author's knowledge, this paper documents the first time that an image-based visual servo control has been proposed for a dynamic system using vision measurement for both position and velocity.
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|Item Type:||Journal Article|
|Keywords:||adaptive control, servomechanisms, robot vision, robot kinematics, robot dynamics, aerospace robotics, asymptotic stability, closed loop systems, control system synthesis, image sequences, aerospace control, nonlinear dynamical systems|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2008 ASME|
|Deposited On:||02 Sep 2010 23:20|
|Last Modified:||29 Feb 2012 14:11|
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