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...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/148464 |
| _version_ | 1826119485962059776 |
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| author | Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat |
| author_sort | Huang, Yanting |
| collection | NTU |
| description | 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. |
| first_indexed | 2024-10-01T05:00:47Z |
| format | Journal Article |
| id | ntu-10356/148464 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:00:47Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1484642021-12-11T20:10:30Z Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat School of Mechanical and Aerospace Engineering Air Traffic Management Research Institute Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Control engineering Output-Feedback Control Shipboard Landing 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. Accepted version This work was supported by the Beijing Natural Science Foundation (no. 4202038), China Postdoctoral Science Foundation (no. 2020TQ0028), the National Natural Science Foundation of China (no. 61827901), the National Key R&D Program of China (no. 2018YFC1506401), China Scholarship Council, and NTU ATMRI Project Agreement Research Grant (no. 2016-01). 2021-12-08T13:39:37Z 2021-12-08T13:39:37Z 2021 Journal Article Huang, Y., Zhu, M., Zheng, Z. & Low, K. H. (2021). Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint. IEEE Transactions On Systems, Man, and Cybernetics: Systems. https://dx.doi.org/10.1109/TSMC.2021.3062712 2168-2216 https://hdl.handle.net/10356/148464 10.1109/TSMC.2021.3062712 en IEEE Transactions on Systems, Man, and Cybernetics: Systems © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TSMC.2021.3062712. application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Control engineering Output-Feedback Control Shipboard Landing Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| title | Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| title_full | Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| title_fullStr | Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| title_full_unstemmed | Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| title_short | Linear velocity-free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| title_sort | linear velocity free visual servoing control for unmanned helicopter landing on a ship with visibility constraint |
| topic | Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Control engineering Output-Feedback Control Shipboard Landing |
| url | https://hdl.handle.net/10356/148464 |
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