Backstepping based visual servoing for transport aircraft automatic landing

Author

Burlion, Laurent ; de Plinval, Henry ; Mouyon, Philippe

Author_Institution

ONERA (French Aerosp. Lab.), Toulouse, France

fYear

2014

fDate

8-10 Oct. 2014

Firstpage

1461

Lastpage

1466

Abstract

In this paper we propose a vision based flight control law for the automatic landing of an aircraft. Newly defined visual features obtained by a 2D-video camera embed the needed information about the relative pose between the aircraft and the runway. To cope with their dependence on the unknown distance to the ground, a depth estimation algorithm is proposed. With these elements, several nonlinear and adaptive control backstepping laws are derived depending on our knowledge of the runway width. Closed-loop stability proofs are also provided. Simulation results show the effectiveness of the approach.

Keywords

adaptive control; aircraft landing guidance; airports; closed loop systems; computer vision; control nonlinearities; nonlinear control systems; pose estimation; stability; video cameras; visual servoing; 2D-video camera; adaptive control backstepping law; automatic transport aircraft landing; backstepping-based visual servoing; closed-loop stability; depth estimation algorithm; nonlinear control backstepping law; relative pose; runway width; unknown distance; vision-based flight control law; visual features; Aerospace control; Aircraft; Atmospheric modeling; Backstepping; Earth; Estimation; Visualization; Estimation algorithms; Nonlinear control; Visual motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2014 IEEE Conference on

Conference_Location

Juan Les Antibes

Type

conf

DOI

10.1109/CCA.2014.6981530

Filename

6981530