Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing. (March 2017)

• Record Type: Journal Article
• Authors: de Plinval, Henry; Morin, Pascal; Mouyon, Philippe
• Is Part Of: Automatica. Volume 77(2017)
• Page Start: 155
• Page End: 169
• Publication Date: 2017-03
• Subjects: Underactuated vehicle -- Aerial vehicle -- Stability -- Robustness -- Measurement uncertainties; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2016.11.012
• Languages: English
• ISSNs: 0005-1098

Abstract

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.