Image-Based Visual Servoing Control for Automatic Carrier Landing

This paper studies the control problem of automatic carrier landing for a fixed-wing aircraft through image-based visual servoing (IBVS) technology. An image-aircraft integration model is established by incorporating the virtual image feature into the aircraft dynamics. Based on the model, we established a control framework with the attitude control as inner loop and visual servoing guidance as outer loop. For trajectory instability at low speed of aircraft, the approach power compensation system with constant angle of attack is used. In order to eliminate the influence of wind turbulence, the nonlinear disturbance observer (NDO) is designed to estimate disturbance. The Lyapunov analysis proves the stability of the system, and the simulation verifies the proposed control scheme can make the aircraft track the desired trajectory and land on the carrier with good performance.