Vision based anti-windup design with application to the landing of an Airliner
| Autor: | Laurent Burlion, Henry de Plinval |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology Observer (quantum physics) Computer science 020208 electrical & electronic engineering Context (language use) 02 engineering and technology Object (computer science) 020901 industrial engineering & automation Exponential stability Aeronautics Control and Systems Engineering Position (vector) Control theory Integrator Component (UML) 0202 electrical engineering electronic engineering information engineering computer computer.programming_language |
| Zdroj: | IFAC-PapersOnLine. 50:10482-10487 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2017.08.1978 |
| Popis: | In this article, we present a novel anti-windup method for vision based control. Technically speaking, this method aims at controlling a second order chain of integrators with the first component being known up to an unknown, time-varying scaling factor, and including control saturations. This complex problem is of pratical relevance since it appears naturally in the context of vision-based control, the position of an object being determined from bi-dimensional images, so that it is known up to a factor. Saturations are also obviously present in such a context. To address this issue, we combine a tailored observer together with an anti-windup scheme. Uniform global asymptotic stability of the closed loop system is proven. Finally, simulation results demonstrate the effectiveness of the method. |
| Databáze: | OpenAIRE |
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