Vision based control of aerial robotic vehicles using the port Hamiltonian framework

Robert Mahony*, Stefano Stramigioli, Jochen Trumpf

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    15 Citations (Scopus)

    Abstract

    This paper investigates the formulation of sensor based control for aerial robotic vehicles based on the port Hamiltonian framework. The paper considers the particular case of vision based control and develops a model for an "infinite dimensional" visual energy port that uses optical flow in the image plane as a "velocity" in the port Hamiltonian formalism.

    Original languageEnglish
    Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
    Pages3526-3532
    Number of pages7
    DOIs
    Publication statusPublished - 1 Dec 2011
    Event50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - USA, United States
    Duration: 12 Dec 201115 Dec 2011
    Conference number: 50

    Conference

    Conference50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
    Abbreviated titleCDC-ECC
    CountryUnited States
    CityUSA
    Period12/12/1115/12/11

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