Adaptive disturbance rejection controller for visual tracking of a maneuvering target

被引:19
|
作者
Stepanyan, Vahram [1 ]
Hovakimyan, Naira [1 ]
机构
[1] Virginia Polytech Inst & State Univ, Dept Aerosp & Ocean Engn, Blacksburg, VA 24061 USA
关键词
D O I
10.2514/1.25034
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
This paper presents an adaptive disturbance rejection control architecture for a flying vehicle to track a maneuvering target using a monocular camera as a visual sensor. Viewing the target's velocity as a time-varying disturbance, the change in magnitude of which has a bounded integral, a guidance law is derived that guarantees asymptotic tracking of the target in the presence of measurement noise and an intelligent excitation signal in the reference input. Implementation of the guidance law is done via conventional adaptive block backstepping. Simulations illustrate the benefits of the method.
引用
收藏
页码:1090 / 1106
页数:17
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