Visual Servoing of a Flexible Aerial Refueling Boom With an Eye-in-Hand Camera

This article proposes a novel image-based visual \nobreak servoing for a flexible aerial refueling boom with an eye-in-hand camera. The dynamic model of the flexible refueling boom is established by absolute nodal coordinate formulation (ANCF), after which the dynamic model is decomposed into a slow subsystem and a fast subsystem based on the singular perturbation approach. With respect to slow subsystem, the image feedback is used to control the flexible refueling boom so that the projection of the point marker on the back of the receiver converges to the desired position. With respect to fast subsystem, linear quadratic regulator (LQR) is applied to stabilize the vibration of the flexible refueling boom. The asymptotic convergence of the image error to zero is verified based on the Lyapunov theory. Simulation is used to demonstrate the effectiveness of the proposed method.