지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 532 - 537 (6page)
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초록· 키워드
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This paper proposes a quadrotor control scheme using image-based visual servo integrated with adaptive backstepping control. Image-based visual servo provides the reference velocities by using image-Jacobian matrix and errors of feature positions on the image plane. Adaptive backstepping control generates input signals for propellers to track the reference velocity accurately even under uncertain effects. The integrated system enables a quadrotor robot to fly to the desired place by minimizing the errors of image feature positions. The performance of the overall system is validated by numerical simulation. Also, to demonstrate the superiority of the proposed system, we compare the performance to that of image-based visual servo integrated with PI control.
목차
Abstract
1. INTRODUCTION
2. IMAGE-BASED VISUAL SERVOING
3. ADAPTIVE BACKSTEPPINGCONTROLLER DESIGN
4. SIMULATION RESULTS
5. CONCLUSION
6. ACKNOWLEDGEMENTS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913054