基于图像的VTOL飞行器视觉伺服控制  

Image-based visual servo control for a VTOL aircraft

作　　者：邹立颖[1] 刘真海 林钰川 Zou Liying;Liu Zhenhai;Lin Yuchuan(College of Communication and Electronic Engineering, Qiqihar University, Qiqihar 161006)

机构地区：[1]齐齐哈尔大学通信与电子工程学院,齐齐哈尔161006

出　　处：《高技术通讯》2020年第8期838-843,共6页Chinese High Technology Letters

基　　金：黑龙江省省属高等学校基本科研业务费科研项目(135309454)资助。

摘　　要：针对垂直起降(VTOL)飞行器的定点降落控制问题,本文提出一种基于图像的视觉伺服控制方法。对于VTOL飞行器视觉伺服控制系统,利用机载摄像头采集图像信息,将反步法与滑模控制技术相结合,设计了视觉伺服控制器。由于该方法采用的视觉模型中包含与深度无关的图像雅克比矩阵,从而避免了特征点深度的测量与估计。利用李雅普诺夫理论证明了在控制器的作用下,VTOL飞行器视觉伺服系统渐近稳定;同时保证图像误差渐近收敛为零,飞行器最终到达期望降落位置。最后的仿真结果表明了所提出的控制方法实际有效。A robust controller for image-based visual servo of a vertical take-off and landing(VTOL)aircraft is presented,which can accomplish the pinpoint landing task.The controller is based on the backstepping technique,but its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which can not contain the depth information of the feature point.The proposed method is to apply the image-based visual servo technique to VTOL aircraft control.In addition,Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servo system,while the image errors can be converged to zero.Furthermore,simulation results have been also conducted to demonstrate the performances of the proposed method.

关 键 词：垂直起降(VTOL)飞行器 视觉伺服 反步法 欠驱动 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]