| 引用本文: | 韩飞,段广仁,王兆龙,贺亮,武海雷,宋婷.逼近与跟踪空间翻滚目标的图像视觉伺服控制[J].控制理论与应用,2018,35(10):1473~1483.[点击复制] |
| HAN Fei,DUAN Guang-ren,WANG Zhao-long,HE Liang,WU Hai-lei,SONG Ting.Image based visual servo control for approaching and tracking tumbling target in space[J].Control Theory and Technology,2018,35(10):1473~1483.[点击复制] |
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| 逼近与跟踪空间翻滚目标的图像视觉伺服控制 |
| Image based visual servo control for approaching and tracking tumbling target in space |
| 摘要点击 2517 全文点击 1291 投稿时间：2017-11-30 修订日期：2018-05-12 |
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| DOI编号 10.7641/CTA.2018.70886 |
| 2018,35(10):1473-1483 |
| 中文关键词 翻滚目标 最终逼近 滑模控制 图像视觉伺服 |
| 英文关键词 tumbling target final approaching sliding mode control image based visual servoing |
| 基金项目 国家自然科学基金重大项目(61690214), 国家自然科学基金面上项目(61374162)资助. |
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| 中文摘要 |
| 在空间翻滚目标的最终逼近与跟踪任务段, 追踪星对目标星的视觉相对导航会因进入盲区而失效, 而基于
间接相对导航的位置视觉伺服控制精度太差. 针对该问题, 基于图像视觉伺服思想, 直接利用目标图像特征点坐标,
建立了超近距离姿轨跟踪的成像运动模型, 推导得到指数收敛的图像视觉伺服期望广义速度、相对位置估计修正
量, 进而引入基于双滑模面控制律的相对姿轨耦合控制闭环, 从而提出了间接估计辅助的图像视觉伺服控制方法.
数学仿真结果表明: 该方法的相对位置和姿态控制精度显著提高, 可为空间翻滚目标最终逼近与跟踪任务提供安
全、准确、稳定的相对姿态和轨道条件. |
| 英文摘要 |
| During the process of final approaching and tracking tumbling target in space, the visual relative navigation
from the chaser to the target may lose efficacy in the dead zone due to the ultra-short distance, thus, only indirect relative
navigation information can be used in the position based visual servoing (PBVS), which causes poor control precision. A
novel image based visual servoing (IBVS) method is proposed to solve this problem, which directly uses several feature
points’ coordinates from target’s image. The motion and imaging models are firstly established, then functions for the
IBVS expected generalized velocities satisfying exponential convergence and the relative position estimation corrections
are derived and presented. By introducing these velocities and corrections into the relative attitude and orbit coupled
control close-loop based on dual sliding-mode surface control law, an indirect estimation assisted IBVS control method
is proposed. Numerical simulations indicate that, the proposed method can dramatically promote the relative attitude and
position control accuracies. Hence, it can provide much more safe, accurate, and stable relative attitude and orbit condition
for final approaching and tracking the tumbling target in space. |
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