文章基本信息

标题：Helicopter ship landing using visual servoing on a moving platform 1 1 This work has been accomplished within the frame of the Research Project CONTAHCT, funded by ONERA general scientific grants.
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作者：Thomas Rakotomamonjy ; Quang Huy Truong
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：10507-10512
DOI：10.1016/j.ifacol.2017.08.1275
语种：English
出版社：Elsevier
摘要：AbstractA vision-based control law has been developed and applied to a helicopter landing on a moving ship at sea. A compensation of the ship platform motion due to the waves has been provided as well, obtained through an estimation of the platform velocity. The outer, vision-based control loop is feeding an inner control loop for the stabilization through pole placement of the helicopter naturally unstable flight dynamics modes. Simulation results show good performances of the overall control loop, with an efficient compensation of the perturbations due to the ship deck motion.
关键词：Keywordsvisual servoinghelicoptermotion compensationflight dynamicsIBVS