TY - GEN
T1 - A switched systems approach to vision-based localization of a target with intermittent measurements
AU - Parikh, Anup
AU - Cheng, Teng-Hu
AU - Dixon, Warren E.
PY - 2015/7/28
Y1 - 2015/7/28
N2 - Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.
AB - Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.
UR - http://www.scopus.com/inward/record.url?scp=84940924632&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7172028
DO - 10.1109/ACC.2015.7172028
M3 - Conference contribution
AN - SCOPUS:84940924632
T3 - Proceedings of the American Control Conference
SP - 4443
EP - 4448
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 American Control Conference, ACC 2015
Y2 - 1 July 2015 through 3 July 2015
ER -