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Journal Articles Automatica Year : 2017

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

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 TakeOff 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.
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Dates and versions

hal-01475915 , version 1 (24-02-2017)

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Henry de Plinval, Pascal Morin, Philippe Mouyon. Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing. Automatica, 2017, 77, pp.155 - 169. ⟨10.1016/j.automatica.2016.11.012⟩. ⟨hal-01475915⟩
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