Nonlinear image-based visual servo controller for the flare maneuver of fixed-wing aircraft using optical flow
Serra P.1; Cunha R.1; Hamel T.2; Silvestre C.1,3; Le Bras F.4
2015-03-01
Source PublicationIEEE Transactions on Control Systems Technology
ISSN10636536
Volume23Issue:2Pages:570-583
Abstract

This paper proposes a nonlinear image-based visual servo controller for the flare phase of the landing maneuver of a fixed-wing aircraft in the presence of wind disturbances. Optical flow and 2-D image features from the image of the runway are exploited to design a feedback controller for the automatic maneuver. The controller is divided in two components. The first component guarantees the horizontal alignment of the aircraft with respect to the runway by exploiting the Plücker coordinates of the lines that delimit the runway as visual features. The second component takes advantage of the optical flow measurements to ensure a smooth touchdown. Simulation results are presented to illustrate the performance of the control approach.

KeywordAircraft Landing Flare Image-based Visual Servo (Ibvs) Control Nonlinear Control Optical Flow Unmanned Aerial Vehicles
DOI10.1109/TCST.2014.2330996
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000350341500013
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Cited Times [WOS]:21   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
2.I3S UNSA CNRS, F-06903 Nice, France
3.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Taipa, Macau, Taiwan
4.French Direct Gen Armement, Tech Directorate, F-75509 Paris, France
Recommended Citation
GB/T 7714
Serra P.,Cunha R.,Hamel T.,et al. Nonlinear image-based visual servo controller for the flare maneuver of fixed-wing aircraft using optical flow[J]. IEEE Transactions on Control Systems Technology,2015,23(2):570-583.
APA Serra P.,Cunha R.,Hamel T.,Silvestre C.,&Le Bras F..(2015).Nonlinear image-based visual servo controller for the flare maneuver of fixed-wing aircraft using optical flow.IEEE Transactions on Control Systems Technology,23(2),570-583.
MLA Serra P.,et al."Nonlinear image-based visual servo controller for the flare maneuver of fixed-wing aircraft using optical flow".IEEE Transactions on Control Systems Technology 23.2(2015):570-583.
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