Robust Image-Based Visual Servo Control of an Uncertain Missile Airframe

<p>A nonlinear vision-based guidance law is presented for a missile-target scenario in the presence of model uncertainty and unknown target evasive maneuvers. To ease the readability of this thesis, detailed explanations of any relevant mathematical tools are provided, including stability definitions, the procedure of Lyapunov-based stability analysis, sliding mode control fundamentals, basics on visual servo control, and other basic nonlinear control tools. To develop the vision-based guidance law, projective geometric relationships are utilized to combine the image kinematics with the missile dynamics in an <em>integrated visual dynamic system.</em> The guidance law is designed using an image-based visual servo control method in conjunction with a sliding-mode control strategy, which is shown to achieve asymptotic target interception in the presence of the aforementioned uncertainties. A Lyapunov-based stability analysis is presented to prove the theoretical result, and numerical simulation results are provided to demonstrate the performance of the proposed robust controller for both stationary and non-stationary targets.</p>

Name thesis:degree_name

Master of Science in Engineering Physics

Level thesis:degree_level

Thesis - Open Access

Discipline thesis:degree_discipline

Physical Sciences

Year

2013

Author dc:creator

• Aygun, Murat Tunca

• image-based control
• servo
• missiles
• airframes
• Aerospace Engineering
• Navigation, Guidance, Control and Dynamics

Repository record dc:identifier

https://commons.erau.edu/edt/18

OAI identifier oai:identifier

oai:commons.erau.edu:edt-1017