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.
Backstepping based visual servoing for transport aircraft automatic landing
01.10.2014
323062 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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