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https://hdl.handle.net/2142/87078
Description
Title
Hybrid Switched System Visual Servo Control
Author(s)
Gans, Nicholas R.
Issue Date
2005
Doctoral Committee Chair(s)
Seth Hutchinson
Department of Study
Systems and Entrepreneurial Engineering
Discipline
Systems and Entrepreneurial Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, System Science
Language
eng
Abstract
Furthermore, nonholonomic systems present a control task that is not suitable for a single, continuous feedback controller. Switched-system control of IBVS and PBVS systems offer the opportunity to use vision data in the closed loop control of a nonholonomic system. We present such a switched-system controller, an initial investigation into the feasibility and performance of this controller and propose further development goals.
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