Journal
AUTOMATICA
Volume 77, Issue -, Pages 155-169Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2016.11.012
Keywords
Underactuated vehicle; Aerial vehicle; Stability; Robustness; Measurement uncertainties
Funding
- Chaire d'excellence en Robotique RTE-UPMC
- ANR SCAR Project
Ask authors/readers for more resources
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.(C) 2016 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available