Vision based control of aerial robotic vehicles using the port Hamiltonian framework
Robert E. Mahony, Stefano Stramigioli, Jochen Trumpf · 2011
This paper investigates the formulation of sensor based control for aerial robotic vehicles based on the port Hamiltonian framework. The paper considers the particular case of vision based control and develops a model for an “infinite dimensional” visual energy port that uses optical flow in the image plane as a `velocity' in the port Hamiltonian formalism.