视觉导航下基于H2/H∞的航迹跟踪

吴成良; 曹云峰; 庄丽葵; 谢也; 丁萌

doi:10.13700/j.bh.1001-5965.2015.0370

视觉导航下基于H₂/H_∞的航迹跟踪

doi: 10.13700/j.bh.1001-5965.2015.0370

1.
南京航空航天大学自动化学院, 南京 210000
2. 南京航空航天大学航天学院, 南京 210000
3. 南京航空航天大学民航学院, 南京 21000

详细信息

作者简介:
吴成良男,硕士研究生。主要研究方向:导航制导与控制。Tel.:15077876686 E-mail:wcl1991@nuaa.edu.cn;曹云峰男,硕士,教授,博士生导师。主要研究方向:导航制导与控制、计算机视觉。Tel.:025-84890902 E-mail:cyfac@nuaa.edu.cn;庄丽葵女,硕士,副教授。主要研究方向:导航制导与控制。Tel.:025-84890902 E-mail:lkzhuang@nuaa.edu.cn

通讯作者:
曹云峰,Tel.:025-84890902 E-mail:cyfac@nuaa.edu.cn

中图分类号: TP391.9
计量
- 文章访问数: 711
- HTML全文浏览量: 48
- PDF下载量: 437
- 被引次数: 0
出版历程
- 收稿日期: 2015-06-05
- 网络出版日期: 2016-06-20

Path tracking for visual navigation based on H₂/H_∞

1.
Institute of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China
2. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China
3. College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China

摘要

摘要: 为了从理论上研究视觉导航系统的特性,首先在物理上将视觉导航系统划分为传感器(摄像头、激光测距仪)和视觉处理计算机。针对视觉处理计算机,建立视觉位置测量模型。将视觉位置测量模型的不确定性分为参数不确定性和输入干扰2种。然后通过仿真详细分析了视觉位置估计针对不同模型不确定性的敏感程度。最后在引入视觉位置测量模型不确定性的基础上研究H₂/H_∞混合鲁棒控制在航迹跟踪上的应用,并给出了保证航迹控制系统稳定性和跟踪性能情况下的视觉位置测量模型摄动范围,对计算机视觉算法的研究具有一定的指导意义。
- 视觉导航 /
- 视觉测量模型 /
- 模型不确定性 /
- H₂/H_∞混合控制 /
- 鲁棒性能
Abstract: Visual navigation system was physically divided into sensors (camera and laser rangefinder) and computer vision processing, so as to study the characteristics of visual navigation system theoretically. And then visual measurement model was established, which was based on the above computer vision processing. The uncertainties of visual position measurement model were divided into parameter uncertainties and input interference. The sensitivity degrees triggered by different kinds of model uncertainties in visual position estimation were analyzed in detail by simulation. Finally, based on the introduction of visual measurement model uncertainty, visual measurement model perturbation ranges, under the constraint conditions of both track control system stability and tracking performance, were given in the study of the H₂/H_∞ hybrid robust control application to trajectory tracking, which is of certain guiding significance to computer vision algorithm.
- visual navigation /
- visual measurement model /
- model uncertainty /
- H₂/H_∞ hybrid control /
- robust performance

HTML全文

参考文献(17)

[1]	STEPANYAN V.Vision based guidance and flight control in problems of aerial tracking[D].Blacksburg:Virginia Polytechnic Institute and State University,2006:1-78.
[2]	ZAMES G.Feedback and optimal sensitivity:Model reference transformations,multiplicative seminorms,and approximate inverses[J].IEEE Transactions on Automatic Control,1981,26(2):301-320.
[3]	BERNSTEIN D S,HADDAD W M.LQG control with an H_∞ performance bound:A Riccati equation approach[J].IEEE Transactions on Automatic Control,1989,34(3):293-305.
[4]	SCHERER C W.Multiobjective H₂/H_∞ control[J].IEEE Transactions on Automatic Control,1995,40(6):1054-1062.
[5]	HWANG C L,CHANG L J.Trajectory tracking and obstacle avoidance of car-like mobile robots in an intelligent space using mixed H₂/H_∞ decentralized control[J].IEEE/ASME Transactions on Mechatronics,2007,12(3):345-352.
[6]	NAG A,PATEL S S,KISHORE K,et al.A robust H-infinity based depth control of an autonomous underwater vehicle[C]//International Conference on Advanced Electronic Systems.Piscataway,NJ:IEEE Press,2013:68-73.
[7]	WANG R,ZHOU Z,SHEN Y.Flying-wing UAV landing control and simulation based on mixed H₂/H_∞[C]//IEEE International Conference on Mechatronics and Automation.Piscataway,NJ:IEEE press,2007:1523-1528.
[8]	LI Z,DING J.Ground moving target tracking control system design for UAV surveillance[C]//2007 IEEE International Conference on Automation and Logistics.Piscataway,NJ:IEEE Press,2007:1458-1463.
[9]	SONKA M,HLAVAC V,BOYLE R.Image processing,analysis,and machine vision[M].London:Thomson West,2008:775-786.
[10]	王德进.H₂和H_∞优化控制理论[M].哈尔滨:哈尔滨工业大学出版社,2001:2-3. WANG D J.H₂ & H_∞ optimal control theory[M].Harbin:Harbin Industrial University Press,2001:2-3(in Chinese).
[11]	吴森堂,费玉华.飞行控制系统[M].北京:北京航空航天大学出版社,2005:64-67. WU S T,FEI Y H.Flight control system[M].Beijing:Beihang University Press,2005:64-67(in Chinese).
[12]	Measurement and Control Group.Robust control[Z].[S.l.]:Eindhoven University of Technology,2002.
[13]	HORIE K,CONWAY B A.Optimization for fighter aircraft vertical-plane maneuvering using poststall flight[J].Journal of Aircraft,2000,37(6):1017-1021.
[14]	KHADEMI I,MALEKI B,MOOD A N.Optimal three dimensional Terrain following/Terrain avoidance for aircraft using direct transcription method[C]//201119th Mediterranean Conference on Control & Automation.Piscataway,NJ:IEEE Press,2011:254-258.
[15]	GU D W,PETKOV P,KONSTANTINOV M.Robust control design with MATLAB[M].Berlin:Springer,2005:20-22.
[16]	SCHERER C W.An efficient solution to multi-objective control problems with LMI objectives[J].Systems & Control Letters,2000,40(1):43-57.
[17]	HINDI H A,HASSIBI B,BOYD S P.Multi-objective H₂/H_∞ optimal control via finite dimensional Q-parameterization and linear matrix inequalities[C]//Proceedings of the 1998 American Control Conference.Piscataway,NJ:IEEE Press,1998:3244-3249.