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In this paper, a new scheme for pose estimation in vision system is presented and evaluated on a serial robot. A nonlinear observer is proposed for online estimation of the deviations of the embedded camera w.r.t the ground reference without knowledge of the geometric features of the scene. This observer is based on high-gain strategy. The presented results consist in using feature and observation...
In this work, it is shown that the results introduced in [1], that hold for full state measurement, can be extended to partial state measurement. In particular, it is proven that the combination of an observer with the new predictive scheme of [1] leads to a better disturbance attenuation than using the same observer with the standard predictive scheme. Finally, some simulations illustrate the results...
This paper presents a novel autopilot for a 3D helicopter. From desired trajectories defined by the user for elevation and travel angles, the autopilot is computing the desired trajectory of the pitch angle. Furthermore, the autopilot allows to decouple the system and to define “virtual” inputs in order to separately design controllers for each attitude angle. Travel and elevation controllers are...
This paper proposes, through a survey of models of several UAV-structures, a generic nonlinear model for reduced scale aerial robotic vehicles (6 DOF). Dynamics of an aircraft and some VTOL UAV (quadricopter, ducted fan and classical helicopter) are illustrated. This generic model focuses only on the key physical efforts acting on the dynamics in order to be sufficiently simple to design a controller...
This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality...
A vision based control design to stabilise a ducted fan UAV equipped with a camera is presented. The proposed algorithm is motivated by recent work in image-based visual servoing control for under-actuated dynamic systems. In this paper, we show that the placement of the camera significantly affects the zero-dynamics of an under-actuated rigid body in a closed-loop image based visual servo control...
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