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Proceedings Paper

Robust landing using time-to-collision measurement with actuator saturation
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Paper Abstract

This paper considers a landing problem for an MAV that uses only a monocular camera for guidance. Although this sensor cannot measure the absolute distance to the target, by using optical flow algorithms, time-to-collision to the target is obtained. Existing work has applied a simple proportional feedback control to simple dynamics and demonstrated its potential. However, due to the singularity in the time-to-collision measurement around the target, this feedback could require an infinite control action. This paper extends the approach into nonlinear dynamics. In particular, we explicitly consider the saturation of the actuator and include the effect of the aerial drag. It is shown that the convergence to the target is guaranteed from a set of initial conditions, and the boundaries of such initial conditions in the state space are numerically obtained. The paper then introduces parametric uncertainties in the vehicle model and in the time-to-collision measurements. Using an argument similar to the nominal case, the robust convergence to the target is proven, but the region of attraction is shown to shrink due to the existence of uncertainties. The numerical simulation validates these theoretical results.

Paper Details

Date Published: 11 May 2009
PDF: 11 pages
Proc. SPIE 7318, Micro- and Nanotechnology Sensors, Systems, and Applications, 73180Q (11 May 2009); doi: 10.1117/12.819522
Show Author Affiliations
Yoshiaki Kuwata, Jet Propulsion Lab. (United States)
Larry Matthies, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 7318:
Micro- and Nanotechnology Sensors, Systems, and Applications
Thomas George; M. Saif Islam; Achyut K. Dutta, Editor(s)

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