Vision-based aerial tracking using intelligent excitation

Chengyu Cao, Naira Hovakimyan

Research output: Contribution to journalConference articlepeer-review


This paper proposes a new technique of intelligent excitation within an adaptive control architecture for aerial tracking using a visual sensor. The adaptive controller is capable of maintaining a relative position for a trailer aircraft with respect to a lead aircraft of unknown size. The only information about the lead aircraft can be deduced from the subtended angle in the image plane of the trailing aircraft. Neither the dimension of the lead aircraft, nor its velocity are assumed to be known to the follower. The control objective of maintaining a prespecified relative range is achieved via an intelligent excitation signal, the properties of which are analyzed in this paper. Simulations illustrate the theoretical results.

Original languageEnglish (US)
Article numberFrC16.4
Pages (from-to)5091-5096
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2005
Externally publishedYes
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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