Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint
In this paper, a constrained image-based visual servoing control method for the shipboard landing problem of unmanned helicopters is proposed. First, the pitch and roll motion of ship are predicted by an auto-regressive (AR) model to determine an appropriate period for landing. Subsequently, a...
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Main Authors: | , , , |
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Other Authors: | |
Format: | Article |
Language: | English |
Published: |
2021
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Subjects: | |
Online Access: | https://hdl.handle.net/10356/148464 |
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Institution: | Nanyang Technological University |
Language: | English |
Summary: | In this paper, a constrained image-based visual
servoing control method for the shipboard landing problem
of unmanned helicopters is proposed. First, the pitch and roll
motion of ship are predicted by an auto-regressive (AR) model
to determine an appropriate period for landing. Subsequently,
a novel robust sliding mode controller without linear velocity
measurements is developed on the basis of the perspective
image feature in a virtual image plane. Meanwhile, a modified
Chebyshev Neural Network (CNN) is proposed to estimate
the uncertainties including the linear acceleration of ship and
translational perturbation, while an adaptive law is employed to
compensate the influence of rotational disturbances. The whole
controller only requires the measurements feedback of a vision
sensor and an inertial measurement unit (IMU). Ulteriorly, to
prevent the visual target on the ship from going beyond the
field of view of camera, the constrained controller is developed
by a control barrier function and a quadratic programming,
where the unknown relative velocity is estimated by a velocity
observer. Finally, simulations are implemented to substantiate the
capability of the presented shipboard landing control method. |
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