摘要：AbstractThis paper uses a control strategy to visually control a helicopter, by combining Image-Based Visual Servoing (IBVS) and a Translational Rate Command (TRC) law. This strategy could initially be used to track a ship before landing, but it was possible only under restrictive conditions due to the machine limits. The goal is to take into account these constraints by adding a module based on filtering and anti-windup techniques between the IBVS and the TRC law. This module generates more realistic velocity commands to be followed and improves stability margins. Results show a good applicability for ship tracking. Models include helicopter and ship dynamics, actuators, and embedded camera.
关键词：KeywordsGuidancenavigationcontrol of vehiclesautonomous systemstarget trackingvision based navigationsystems with saturationanti-winduphelicoptersmotion compensation
