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

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dc.contributor.author Kuwata, Yoshiaki
dc.contributor.author Matthies, Larry
dc.date.accessioned 2014-08-07T21:39:00Z
dc.date.available 2014-08-07T21:39:00Z
dc.date.issued 2009-04-13
dc.identifier.citation SPIE Defense, Security and Sensing, Orlando, Florida, April 13-17, 2009 en_US
dc.identifier.clearanceno 09-0981
dc.identifier.uri http://hdl.handle.net/2014/44636
dc.description.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. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2009 en_US
dc.subject convergence en_US
dc.subject parametric uncertainty en_US
dc.title Robust landing using time-to-collision measurement with actuator saturation en_US
dc.type Presentation en_US


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