Discontinuous model recovery anti-windup for image based visual servoing

Laurent Burlion, Luca Zaccarian, Henry de Plinval, Sophie Tarbouriech

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

A discontinuous model recovery anti-windup technique is proposed for a double integrator with the output measurement corrupted by a time-varying scaling factor. This challenging measurement configuration arises in vision-based control, where the position of an object moving in the three-dimensional space is determined using two-dimensional images. We prove uniform global asymptotic stability of the closed loop by applying an invariance principle argument to the regularized dynamics. The effectiveness of the proposed approach is illustrated on a visual aircraft landing simulation example.

Original languageEnglish (US)
Pages (from-to)41-47
Number of pages7
JournalAutomatica
Volume104
DOIs
StatePublished - Jun 2019
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Keywords

  • Image-based visual servo control
  • Model recovery anti-windup
  • Time-varying systems
  • Uncertain systems

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