欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
提出了一种基于视觉伺服的四旋翼飞行器悬停控制方法.选取图像矩为特征,利用机载惯性测量单元的数据,通过投影到虚拟成像平面上以简化由飞行器线运动和角运动耦合所导致的雅克比矩阵的复杂结构.进而结合四旋翼飞行器的动力学模型,建立视觉伺服的动力学模型,在近似线性化的基础上,采用反步法设计控制器实现飞行器的悬停控制.最后通过实验验证了该方法的有效性.
英文摘要：
A visual servo-based approach for quadrotor helicopter hovering control was proposed.Im-age moment was adopted as visual feature.The Jacobian was complicated due to the coupling between linear motion and angular motion of quadrotor helicopter.It was simplified by projecting original im-age to virtual image plane with onboard inertial measurement unit.Combining with the dynamics of quadrotor helicopter,the full dynamics of helicopter for visual servo was obtained.With linear ap-proximation,a backstepping controller was designed to realize hovering.The proposed approach was verified by experiments.
同期刊论文项目
同项目期刊论文
Robust H∞ Control for a Class of Discrete Time-Delay Stochastic Systems with Randomly Occurring Nonl
期刊信息
位置：