Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing

• Autores: Henry de Plinval, Pascal Morin, Philippe Mouyon
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 77, 2017, págs. 155-169
• Idioma: inglés
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• Resumen

  • Abstract Stabilization of a class of underactuated vehicles with uncertain measurements of the position tracking error is addressed. Nonlinear feedback laws ensuring semi-global stability for a large class of uncertainties on these measurements are derived based on properties of saturated controls. Practical relevance of the proposed results is illustrated by two application examples for Vertical Take-Off and Landing aerial vehicles equipped with a mono-camera sensor: point stabilization in front of a planar target and visual way-points navigation based on interpolation of homography measures.