垂直起降无人机基于图像的目标跟踪控制
Image-based target tracking control for vertical take-off and landing UAVs
摘要点击 342  全文点击 285  投稿时间:2016-07-07  修订日期:2017-03-11
查看全文  查看/发表评论  下载PDF阅读器
DOI编号  10.7641/CTA.2017.60492
  2017,34(6):723-731
中文关键词  四旋翼无人机  跟踪控制  基于图像视觉伺服  滑模控制
英文关键词  quadrotor UAVs  tracking control  image based visual servoing  sliding mode control
基金项目  国家自然科学基金项目(11461075)
学科分类代码  
作者单位E-mail
刘锦涛 海军航空工程学院青岛校区 top1944@163.com 
高丽 海军航空工程学院青岛校区 top1944@163.com 
吴文海 海军航空工程学院青岛校区  
李静 海军航空工程学院战略导弹系  
中文摘要
      针对安装有惯性测量单元和摄像机的低成本四旋翼无人机, 研究无位置、速度、航向测量情况下的机动目标基于图像的跟踪控制方法. 首先, 结合无人机的动力学方程在图像空间中推导了系统的误差方程. 其次, 为克服 无航向测量的问题, 设计了一种位置控制器, 使用图像矩作为反馈输入并输出油门和姿态指令. 最后, 针对缺少图像速度测量问题, 设计了一种super-twisting滑模观测器和控制器, 生成的期望姿态和拉力指令无颤振, 并通过李雅普诺夫理论证明了控制系统的稳定性. 最终无人机通过调整倾斜姿态实现了跟踪飞行, 且避免了响应慢的航向调整. 跟踪机动目标的仿真结果验证了所提出方法的有效性.
英文摘要
      The low-cost quadrotor is equiped with inertial measurement unit (IMU) and camera, but there is no position, velocity or heading measurement. For this problem, an image-based control method is studied to track the maneuvering target. Firstly, the system error equations are proposed in the image space, which include the motion equations of quadrotor. Secondly, a position controller is designed, which takes image moments as inputs and attitude and thrust commands as outputs. Finally, for the problem of no measurement of image speed, a super-twisting sliding mode observer and controller are designed. The controller is robust to the unknown target maneuver and its output is chattering-free. The system stability is proven by Lyapunov theory. The unmanned aerial vehicle (UAV) completes the target tracking flight by fast tilt attitude change, not slow yaw change. The simulation results demonstrate the efficiency of proposed control scheme for quadrotor target tracking.