文章基本信息

标题：Stability enhancement of a vision-based helicopter control law by anti-windup filters
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作者：Quang Huy Truong ; Thomas Rakotomamonjy ; Jean-Marc Biannic 等
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：10495-10500
DOI：10.1016/j.ifacol.2017.08.1981
语种：English
出版社：Elsevier
摘要：AbstractThis paper uses a control strategy to visually control a helicopter, by combining Image-Based Visual Servoing (IBVS) and a Translational Rate Command (TRC) law. This strategy could initially be used to track a ship before landing, but it was possible only under restrictive conditions due to the machine limits. The goal is to take into account these constraints by adding a module based on filtering and anti-windup techniques between the IBVS and the TRC law. This module generates more realistic velocity commands to be followed and improves stability margins. Results show a good applicability for ship tracking. Models include helicopter and ship dynamics, actuators, and embedded camera.
关键词：KeywordsGuidancenavigationcontrol of vehiclesautonomous systemstarget trackingvision based navigationsystems with saturationanti-winduphelicoptersmotion compensation