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 un-normalized 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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e-mail: robert.mahony@anu.edu.au
e-mail: thamel@i3s.unice.fr
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January 2008
Research Papers
Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features
R. Mahony,
R. Mahony
Department of Engineering,
e-mail: robert.mahony@anu.edu.au
Australian National University
, Canberra 0200, Australia
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T. Hamel
e-mail: thamel@i3s.unice.fr
T. Hamel
I3S UNSA-CNRS
, 2000 route des Lucioles-Les Algorithmes, Bâtiment Euclide B, BP 121, 06903 Sophia Antipolis-Cedex, France
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R. Mahony
Department of Engineering,
Australian National University
, Canberra 0200, Australiae-mail: robert.mahony@anu.edu.au
P. Corke
T. Hamel
I3S UNSA-CNRS
, 2000 route des Lucioles-Les Algorithmes, Bâtiment Euclide B, BP 121, 06903 Sophia Antipolis-Cedex, Francee-mail: thamel@i3s.unice.fr
J. Dyn. Sys., Meas., Control. Jan 2008, 130(1): 011005 (12 pages)
Published Online: December 5, 2007
Article history
Received:
November 28, 2005
Revised:
January 18, 2007
Published:
December 5, 2007
Citation
Mahony, R., Corke, P., and Hamel, T. (December 5, 2007). "Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features." ASME. J. Dyn. Sys., Meas., Control. January 2008; 130(1): 011005. https://doi.org/10.1115/1.2807085
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