A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements
- Author
- BRAS, Sergio1 ; CUNHA, Rita1 ; VASCONCELOS, Jose F1 ; SILVESTRE, Carlos1 ; OLIVEIRA, Paulo1
[1] Institute for Systems and Robotics, Instituto Superior Técnico, 1049-001 Lisbon, Portugal - Source
IEEE transactions on robotics. 2011, Vol 27, Num 4, pp 664-677, 14 p ; ref : 33 ref
- ISSN
- 1552-3098
- Scientific domain
- Control theory, operational research
- Publisher
- Institute of Electrical and Electronics Engineers, New York, NY
- Publication country
- United States
- Document type
- Article
- Language
- English
- Author keyword
- Estimation navigation nonlinear systems observers visual servoing
- Keyword (fr)
- Angles d'Euler Asservissement visuel Capteur mesure Commande attitude Commande non linéaire Commande position Convergence numérique Erreur estimation Estimation erreur Identification système Intégration numérique Largeur bande Lentille Mesure angle Mesure vitesse Navigation inertie Observateur non linéaire Programme commande Rétroaction Stabilité entrée état Stabilité exponentielle Système multicadence Système non linéaire Vision active Vision ordinateur Vitesse angulaire
- Keyword (en)
- Euler angles Visual servoing Measurement sensor Attitude control Non linear control Position control Numerical convergence Estimation error Error estimation System identification Numerical integration Bandwidth Lentil Angular measurement Speed measurement Inertial navigation Non linear observer Control program Feedback regulation Input to state stability Exponential stability Multirate system Non linear system Active vision Computer vision Angular velocity
- Keyword (es)
- Angulos de Euler Servomando visual Captador medida Control actitud Control no lineal Regulación de la posición Convergencia numérica Error estimación Estimación error Identificación sistema Integración numérica Anchura banda Lenteja Medida ángulo Medida velocidad Navegación por inercia Observador non lineal Programa mando Retroacción Stabilidad entrada estado Estabilidad exponencial Sistema cadencia múltiple Sistema no lineal Visión ordenador
- Classification
- Pascal
- 001 Exact sciences and technology / 001B Physics / 001B40 Fundamental areas of phenomenology (including applications) / 001B40F Solid mechanics / 001B40F10 Solid dynamics (ballistics, collision, multibody system, stabilization...)
- Pascal
- 001 Exact sciences and technology / 001D Applied sciences / 001D02 Computer science; control theory; systems / 001D02D Control theory. Systems / 001D02D05 Modelling and identification
- Pascal
- 001 Exact sciences and technology / 001D Applied sciences / 001D02 Computer science; control theory; systems / 001D02D Control theory. Systems / 001D02D06 Control system analysis
- Pascal
- 001 Exact sciences and technology / 001D Applied sciences / 001D02 Computer science; control theory; systems / 001D02D Control theory. Systems / 001D02D07 Control system synthesis
- Discipline
- Computer science : theoretical automation and systems Physics : solid mechanics
- Origin
- Inist-CNRS
- Database
- PASCAL
- INIST identifier
- 24425887
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
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DOI
10.1109/TRO.2011.2112950 
https://dx.doi.org/10.1109/TRO.2011.2112950
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