Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 51, Issue 10, Pages 6282-6292Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2957992
Keywords
Cameras; Receivers; Visual servoing; Vibrations; Manipulators; Perturbation methods; Military aircraft; Adaptive control; eye-in-hand camera; flexible refueling boom; singular perturbation approach; visual servoing
Funding
- Natural Science Foundation of China [61722309, U1613218]
- State Key Laboratory of Robotics and System (HIT)
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This article presents a novel image-based visual servoing method for a flexible aerial refueling boom, which uses image feedback control and LQR method to stabilize the flexible boom.
This article proposes a novel image-based visual servoing for a flexible aerial refueling boom with an eye-in-hand camera. The dynamic model of the flexible refueling boom is established by absolute nodal coordinate formulation (ANCF), after which the dynamic model is decomposed into a slow subsystem and a fast subsystem based on the singular perturbation approach. With respect to slow subsystem, the image feedback is used to control the flexible refueling boom so that the projection of the point marker on the back of the receiver converges to the desired position. With respect to fast subsystem, linear quadratic regulator (LQR) is applied to stabilize the vibration of the flexible refueling boom. The asymptotic convergence of the image error to zero is verified based on the Lyapunov theory. Simulation is used to demonstrate the effectiveness of the proposed method.
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