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

摘要

In this paper we present a vision-based adaptive pursuit guidance law with an objective to intercept a stationary target in the presence of unknown missile dynamics. The dynamic equations of motion for a missile airframe are derived in terms of the general Euler-Lagrange system of equations. One goal is to amalgamate missile dynamics with the visual measurements obtained using an on-board monocular camera to frame a visual dynamic control problem in order to develop an integrated guidance control law that is also an autopilot for the homing missiles. To this end, an image-based visual servo controller is developed along with a direct adaptive update law to estimate the uncertain constant dynamic parameters. Lyapunov-based stability analysis ensures global asymptotic convergence of the system states. Finally, with an intention to relax the assumption of stationary target we present our preliminary results in the development of a stabilizing guidance law for a target with known velocity but unknown evasive maneuvers, i.e., unknown acceleration. Extensive simulation results are included to verify the performance of the proposed integrated guidance control laws.