Henry de Plinval

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— The paper addresses the control of Vertical Take Off and Landing (VTOL) Underactuated Autonomous Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera and rate gyros. The objective is to stabilize the vehicle to the pose associated with a visual image of a planar target. By using the homography matrix computed from(More)
— The paper concerns the stabilization of thrust-propelled underactuated vehicles in the context of sensor-based control. First, a class of nonlinear feedback laws that ensure semi-global stabilization despite possibly large uncertainties on the position measurements is proposed. Then, application to the visual servoing of a Vertical TakeOff and Landing(More)
The paper concerns the control of Vertical Take Off and Landing (VTOL) Underactuated Aerial Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera. The objective is to stabilize the vehicle to the equilibrium pose associated with an image of a planar target, using a minimal sensor suite and poor knowledge of the(More)
—A novel approach for reconfigurable control systems design against sensor and actuator faults is proposed. The scheme is based on an estimation of the state and of the fault parameters, and on a Partially Observable Markov Decision Process (POMDP), used for the decision task of the feedback controller. The following fault types are considered: locking and(More)
This paper concerns the control of Vertical TakeOff and Landing (VTOL) Unmanned Aerial Vechicles (UAVs) based on exteroceptive measurements obtained from a mono-camera vision system. By assuming the existence of a locally planar structure in the field of view of the UAV's camera, the so-called homography matrix can be used to represent the vehicle's motion(More)
N owadays, cameras and other exteroceptive sensors are on board of a large variety of automatic platforms, such as Unmanned Aerial Vehicles (UAV), space exploration probes and missiles. However, apart from this latter application, they are mostly used as payload and not to pilot the vehicle itself. In this paper, we focus on the use of computer vision for(More)
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