Visual Servo Control for the Hovering of an Outdoor Robotic Airship
نویسندگان
چکیده
AbstmctThis paper addresses the issue of automatic hovering of an outdoor autonomous airship using image-based visual servoing. The hovering controller is designed using a full dynamic model of the airship, in a PD error feedback scheme, taking the visual signals as output and extracted from an on-board camera. The behavior and stability of the airship motion during the task execution and subjected to the wind disturbance is studied. The approach is flnally validated in simulation using an accurate airship model.
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تاریخ انتشار 2002