基于扰动抑制的四旋翼飞行器跟踪控制

发布时间：2018-07-01 12:32

  本文选题：四旋翼无人飞行器 + 视觉伺服　； 参考：《计算机仿真》2016年02期

【摘要】：针对四旋翼无人飞行器的视觉伺服控制技术问题,为了使无人发生器实现稳定飞行,准确跟踪目标,采用四元数对飞行器姿态进行描述,并建立系统的非线性误差模型,选用基于HSV颜色空间的颜色特征提取的方法实现目标跟踪,再通过三角法则获取飞行器位置信息,考虑系统的内部模型不确定性及外界扰动,引入自抗扰控制技术设计了水平位置控制器与姿态控制器。通过实验结果分析,改进的飞行器视觉伺服控制器可以准确地跟踪目标,并且控制系统鲁棒性强,跟踪误差小,能够有效完成视觉伺服控制任务。
[Abstract]:Aiming at the problem of visual servo control technology of four-rotor unmanned aerial vehicle (UAV), in order to make unmanned generator fly stably and track target accurately, quaternion is used to describe the attitude of the vehicle, and the nonlinear error model of the system is established. The method of color feature extraction based on HSV color space is used to realize target tracking, and then the position information of aircraft is obtained by triangle rule, considering the uncertainty of the internal model and the external disturbance of the system. The horizontal position controller and attitude controller are designed by introducing the active disturbance rejection control technology. Through the analysis of the experimental results, the improved visual servo controller can track the target accurately, and the control system has strong robustness and small tracking error, which can effectively accomplish the task of visual servo control.
【作者单位】： 河南机电高等专科学校电气工程系;河南机电高等专科学校自动控制系;
【分类号】：V249.1
，

本文编号：2087798