Perching Control for UAV Based on Feedback Control and Visual Servo

被引：0

作者：

Qin Jiachen ^{[1
]}

Zhou Zhou ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Aeronaut, Xian 710072, Shanxi, Peoples R China

来源：

PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷

关键词：

Perching UAV; Tilt deformation; Control strategy; Simulation;

D O I：

10.1007/978-981-99-0479-2_304

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a perching control strategy for a novel tiltable Unmanned Aerial Vehicle (UAV). The control scheme is based on the position-based visual servo and double-loop control method. Firstly, the dynamic model and perching strategy are established according to specific configuration of the UAV. Secondly, in controller design, proportional-integral-derivative (PID) control method is adopted, and a scheme that fuses image data and inertial measurement unit (IMU) data is designed for feedback in the control loop. Finally, the simulation results show the effectiveness of the perching control strategy proposed in this paper.

引用

页码：3297 / 3306

页数：10

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