Visual servoing based on an analytical homography decomposition (English)

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This paper presents a new vision-based control method for positioning a camera with respect to an unknown planar object. Standard methods use non-linear state observers based on homography decomposition. In the general case, there are two possible solutions to the decomposition problem. Thus, some additional "a priori" information must be used. In this paper, we propose to use an analytical decomposition of the homography matrix in order to define a new control objective that allows to discard the false solution without any "a priori" information. The stability of the control law has been proved.

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1
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1
Announcements
| 2005
2
Table of Contents
| 2005
4
The CDC-ECC'05 Review Process
| 2005
6
Decentralized Observation Problems
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6
Organizing Committees
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8
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9
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10
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11
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13
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14
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18
Symbolic sub-systems and symbolic control of linear systems
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18
Registration
| 2005
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23
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| 2005
24
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1011
Fault Tolerant Control of a Civil Aircraft Using a Sliding Mode Based Scheme
Alwi, H. / Edwards, C. | 2005
1017
Model based detection of hydrogen leaks in a fuel cell stack
Ingimundarson, A. / Stefanopoulou, A.G. / McKay, D. | 2005
1023
Partially Observed Inventory Systems
Bensoussan, A. / Cakanyildirim, M. / Sethi, S.P. | 2005
1029
Optimal Estimation with Limited Measurements
Imer, O.C. / Basar, T. | 2005
1035
Sequential Source Coding: An optimization viewpoint
Borkar, V.S. / Mitter, S.K. / Sahai, A. / Tatikonda, S. | 2005
1043
Maximum Entropy Models, Dynamic Games, and Robust Output Feedback Control for Automata
Baras, J.S. / Rabi, M. | 2005
1050
Nash Strategies and Adaptation for Decentralized Games Involving Weakly-coupled Agents
Minyi Huang, / Malhame, R.P. / Caines, P.E. | 2005
1056
Efficient Market Mechanisms for Network Resource Allocation
Jain, R. / Varaiya, P. | 2005
1062
On the controllability of some quantum electro-dynamical systems
Mirrahimi, M. / Rouchon, P. | 2005
1068
On conditions that prevent steady-state controllability of certain linear partial differential equations
Chitour, Y. / Coron, J.-M. / Garavello, M. | 2005
1074
Optimal distribution coefficients for packets traffic on a telecommunication network
Marigo, A. / Piccoli, B. | 2005
1080
Controllability of the Schrodinger Equation Via Intersection of Eigenvalues
Boscain, U. V. / Adami, R. | 2005
1080
Controllability of the Schrödinger Equation via Intersection of Eigenvalues
Adami, R. / Boscain, U. | 2005
1086
Boundary control for exact cancellation of boundary disturbances in hyperbolic systems of conservation laws
Bastin, G. / Coron, J.-M. / d'Andrea-Novel, B. / Moens, L. | 2005
1090
On Active Magnetic Bearing Control with Input Saturation
Mazenc, F. / de Queiroz, M.S. / Malisoff, M. | 2005
1096
Fast Side-Stepping of the Triple Inverted Pendulum via Constrained Nonlinear Feedforward Control Design
Graichen, K. / Treuer, M. / Zeitz, M. | 2005
1102
Output Feedback Stabilization of the Moore-Greitzer Compressor Model
Shiriaev, A. / Johansson, R. / Robertsson, A. / Freidovich, L. | 2005
1108
Experimental output regulation for the TORA system
Pavlov, A. / Janssen, B. / van de Wouw, N. / Nijmeijer, H. | 2005
1114
Steering the Chaplygin Sleigh by a Moving Mass
Osborne, J.M. / Zenkov, D.V. | 2005
1119
Trajectory Tracking for a Threecycle Mobile Robot: the Vector Field Orientation Approach
Michalek, M. / Kozlowski, K. | 2005
1125
Pricing for Rate Allocation in Unicast Service Provisioning is Informationally Efficient
Stoenescu, T.M. / Teneketzis, D. | 2005
1131
Synthesis of Simple Feed-Forward Networks: A First-Order Example
Sarma, S.V. / Dahleh, M.A. | 2005
1137
A Maximum Time Optimal Control Approach to Routing in Sensor Networks
Xiaoyi Wu, / Cassandras, C.G. | 2005
1143
Optimal choice of the buffer size in the Internet routers
Avrachenkov, K. / Ayesta, U. / Piunovskiy, A. | 2005
1149
Delay in Mobility-Assisted Constant-Throughput Wireless Networks
Sharma, V. / Frazzoli, E. / Voulgaris, P.G. | 2005
1155
Decentralized Stabilization of Linear Systems via Limited Capacity Communication Networks
Matveev, A.S. / Savkin, A.V. | 2005
1162
Sensor-less Vibration Suppression and Scan Compensation for Piezoelectric Tube Nanopositioners
Fleming, A.J. / Reza Moheimani, S.O. | 2005
1168
PPF Control of a Piezoelectric Tube Scanner
Ratnam, M. / Bhikkaji, B. / Fleming, A.J. / Moheimani, S.O.R. | 2005
1174
Two-Sensor-Based H_infinity Control for Nanopositioning in Probe Storage
Pantazi, A. / Sebastian, A. / Pozidis, H. / Eleftheriou, E. | 2005
1174
Two-sensor-based H∞control for nanopositioning in probe storage
Pantazi, A. / Sebastian, A. / Pozidis, H. / Eleftheriou, E. | 2005
1180
Adaptive Control of Uncertain Dynamics at the Nano-scale
El Rifai, O.M. / Youcef-Toumi, K. | 2005
1185
Observer based imaging methods for Atomic Force Microscopy
Sahoo, D.R. / De Murti, T. / Salapaka, V. | 2005
1191
Intelligent Robust Controller Design for a Micro-Actuator
Vagia, M. / Nikolakopoulos, G. / Tzes, A. | 2005
1197
On the Least Squares Solutions of a System of Bilinear Equations
Er-Wei Bai, / Yun Liu, | 2005
1203
On Model Complexity Control in Identification of Hammerstein Systems
Pelckmans, K. / Suykens, J.A.K. / Goethals, I. / De Moor, B. | 2005
1209
Recursive estimation of Hidden Markov Models
Gerencser, L. / Molnar-Saska, G. / Orlovits, Z. | 2005
1215
Estimation with Information Loss: Asymptotic Analysis and Error Bounds
Ling Shi, / Epstein, M. / Tiwari, A. / Murray, R.M. | 2005
1222
On Constrained Covariance Extension Problems
Mahata, K. / Minyue Fu, | 2005
1228
Target Existence Based MHT
Musicki, D. / Evans, R.J. | 2005
1234
Variable structure control for parabolic evolution equations
Levaggi, L. | 2005
1240
Active Vibration Suppression of a Flexible Beam Via Sliding Mode and H Control
Itik, M. / Salamci, M. U. / Ulker, F. D. / Yaman, Y. | 2005
1240
Active Vibration Suppression of a Flexible Beam via Sliding Mode and H∞Control
Itik, M. / Salamci, M.U. / Demet Ulker, F. / Yaman, Y. | 2005
1246
Sliding mode tracking control of output voltage in multiple modular boost power converters using the method of stable system center
Patterson, J. / Shtessel, Y.B. | 2005
1252
Multivariable practical higher order sliding mode control
Laghrouche, S. / Plestan, F. / Glumineau, A. | 2005
1258
Flexible Satellite Attitude Control Via Sliding Mode Technique
Guan, P. / Liu, X.J. / Liu, J.Z. | 2005
1264
An Orthogonal Array Optimization for the Economic Dispatch with Nonsmooth Cost Functions
Ying Cai, / Derong Liu, | 2005
1270
Kalman Filter Estimation of the Coal Flow in Power Plants
Magni, L. / Paderno, J. / Pretolani, F. | 2005
1276
Controller Design for the Cancellation of the Tower Fore-aft Mode in a Wind Turbine
Leithead, W.E. / Dominguez, S. | 2005
1282
Adaptive Receding Horizon Control of a Distributed Collector Solar Field
Igreja, J.M. / Lemos, J.M. / Silva, R.N. | 2005
1288
A Genetic Algorithm Solution to the Governor-Turbine Dynamic Model Identification in Multi-Machine Power Systems
Stefopoulos, G.K. / Georgilakis, P.S. / Hatziargyriou, N.D. / Sakis Meliopoulos, A.P. | 2005
1295
Towards Pitch-Scheduled Drive Train Damping in Variable-Speed, Horizontal-Axis Large Wind Turbines
Dixit, A. / Suryanarayanan, S. | 2005
1301
QFT Robust Control Design by Interactive Approach
Diaz, J.M. / Dormido, S. / Aranda, J. | 2005
1307
Helicopter Flight Control Law Design Using H-Infinity Techniques
Kureemun, R. / Walker, D. J. / Manimala, B. / Voskuijl, M. | 2005
1307
Helicopter Flight Control Law Design Using H∞Techniques
Kureeemun, R. / Walker, D.J. / Manimala, B. / Voskuijl, M. | 2005
1313
Gain Scheduling Controller Synthesis with Spline-Type Parameter-Dependent Quadratic Forms via Dilated Linear Matrix Inequalities
Hamada, Y. / Yamaguchi, I. / Kida, T. | 2005
1319
Hybrid Differential Evolution Method for the Mixed H-2/H-Infinity Robust Control Problem under Pole Assignment
Neurnann, D. / De Araujo, H. X. | 2005
1319
Hybrid differential evolution method for the mixed H2/H∞robust control problem under pole assignment
Neumann, D. / de Araujo, H.X. | 2005
1325
H_infinity Control for Uncertain Systems under Time Domain Constraints
De Araujo, H. X. / Langner, C. | 2005
1325
H∞Control for uncertain systems under time domain constraints
de Araujo, H.X. / Garbin Langner, C. | 2005
1331
Application Programming Interface for Real-Time Receding Horizon Control
Keviczky, T. / Packard, A. / Natale, O.R. / Balas, G.J. | 2005
1337
Extending LP Optimizer Functionality for Model Predictive Control
Wojsznis, W. / Blevins, T. / Wojsznis, P. / Mehta, A. | 2005
1343
Experiments on Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators
Nakaso, Y. / Kawai, Y. / Fujita, M. | 2005
1349
Fault Tolerant Model Predictive Control applied on the Barcelona Sewer Network
Ocampo-Martinez, C. / Puig, V. / Quevedo, J. / Ingimundarson, A. | 2005
1355
Predictive control of a solar air conditioning plant with simultaneous identification
Nunez-Reyes, A. / Bordons, C. | 2005
1361
Stochastic Programming Applied to Model Predictive Control
de la Penad, D.M. / Bemporad, A. / Alamo, T. | 2005
1367
PID Stabilization of a Class of Time Delay Systems
Oliveira, V.A. / Silva, A.M.F. / Cossi, L.V. / Teixeira, M.C.M. | 2005
1373
Delay-dependent Robust Resilient H∞Control for Uncertain Singular Time-delay Systems
Shuqian Zhu, / Zhenbo Li, / Zhaolin Cheng, | 2005
1373
Delay-Dependent Robust Resilient H_infty Control for Uncertain Singular Time-Delay Systems
Zhu, S. / Li, Z. / Cheng, Z. | 2005
1379
Stability and Stabilization of Distributed time Delay Systems
Gouaisbaut, F. | 2005
1385
Pseudospectral Techniques for Stability Computation of Linear Time Delay Systems
Breda, D. / Maset, S. / Vermiglio, R. | 2005
1391
On Approximate Dynamic Programming in Switching Systems
Rantzer, A. | 2005
1397
A Provably Convergent Algorithm for Transition-Time Optimization in Switched Systems
Axelsson, H. / Wardi, Y. / Egerstedt, M. / Verriest, E. | 2005
1403
Optimality Zone Algorithms for Hybrid Systems Computation and Control: From Exponential to Linear Complexity
Shaikh, M.S. / Caines, P.E. | 2005
1409
Event-Driven Optimal Control of Integral Continuous-Time Hybrid Automata
Bemporad, A. / Di Cairano, S. / Julvez, J. | 2005
1415
Optimal Control of Hybrid Systems Using Statistical Learning
Collaro, C. / Abdallah, C.T. / Tornambe, A. / Dole, U. | 2005
1421
Optimal Control for Switched Distributed Delay Systems with Refractory Period
Verriest, E.I. | 2005
1427
The Geometry of Optimal Control Solutions on some Six Dimensional Lie Groups
Biggs, J. / Holderbaum, W. | 2005
1433
Minimum time optimality for a bang-singular arc: second order sufficient conditions
Poggiolini, L. / Stefani, G. | 2005
1439
Controllability of the Dubins problem on surfaces
Chitour, Y. / Sigalotti, M. | 2005