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Discontinuous model recovery anti-windup for image based visual servoing

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.
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https://hal.laas.fr/hal-02324580
Contributor : Luca Zaccarian <>
Submitted on : Tuesday, October 22, 2019 - 12:04:37 AM
Last modification on : Thursday, June 18, 2020 - 5:59:01 PM

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Laurent Burlion, Luca Zaccarian, Henry de Plinval, Sophie Tarbouriech. Discontinuous model recovery anti-windup for image based visual servoing. Automatica, Elsevier, 2019, 104, pp.41-47. ⟨10.1016/j.automatica.2019.02.049⟩. ⟨hal-02324580⟩

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