  With the high focus on autonomous aerial refueling recently, it becomes
increasingly urgent to design efficient methods or algorithms to solve AAR
problems in complicated aerial environments. Apart from the complex aerodynamic
disturbance, another problem is the pose estimation error caused by the camera
calibration error, installation error, or 3D object modeling error, which may
not satisfy the highly accurate docking. The main objective of the effort
described in this paper is the implementation of an image-based visual servo
control method, which contains the establishment of an image-based visual servo
model involving the receiver's dynamics and the design of the corresponding
controller. Simulation results indicate that the proposed method can make the
system dock successfully under complicated conditions and improve the
robustness against pose estimation error.
