Vision based anti-windup design with application to the landing of an Airliner

Abstract

In this article, we present a novel anti-windup method for vision based control. Technically speaking, this method aims at controlling a second order chain of integrators with the first component being known up to an unknown, time-varying scaling factor, and including control saturations. This complex problem is of pratical relevance since it appears naturally in the context of vision-based control, the position of an object being determined from bi-dimensional images, so that it is known up to a factor. Saturations are also obviously present in such a context. To address this issue, we combine a tailored observer together with an anti-windup scheme. Uniform global asymptotic stability of the closed loop system is proven. Finally, simulation results demonstrate the effectiveness of the method.