Vision-based control for helicopter ship landing with handling qualities constraints

In combination with an IBVS control system, two types of advanced helicopter control laws are introduced in this paper with a complete tuning procedure, and compared. The controllers are used to follow and land on a ship. In this approach the procedure is set as fully automatic, but as the final goal is to provide the pilots with an assistance based on these controllers, an eye is kept on flying and handling qualities of the closed loop helicopter. Therefore controllers are tested to assess stability, robustness and flying characteristics. Models include helicopter and ship dynamics, actuators, and embedded camera.