哈尔滨工程大学学报2016，Vol.37Issue(2)：192-197,230,7.DOI:10.11990/jheu.201509067
基于视觉的无人机鲁棒tau控制方法研究
Robust vision-based tau control method for unmanned aerial vehicles
摘要
Abstract
For a smooth landing control of quadrotor unmanned aerial vehicles ( UAVs ) , whose height and speed converge to zero at the same time, we designed a disturbance⁃resistant robust tau height controller based on the tau control strategy in the conditions where vision information is available but position is not measureable,and is presen⁃ted the stability proof of the controller. On the basis of the dynamic characteristics of quadrotors, we divided the flight control system into the outer tau controller and inner attitude controller. By the joint force and attitude com⁃mands extracted from a tau controller output, we designed a command saturation function to satisfy the requirements of corresponding attitude and acceleration constraints. Moreover, we designed a sliding⁃mode attitude controller on SO(3) to improve the robust tau controller's ability to resist disturbance. A comparison of landing simulation results for a quadrotor demonstrates that the robust tau controller can better resist disturbance and has better tau tracking control accuracy than existing tau control methods.关键词
四旋翼无人机/视觉着陆/tau理论/抗扰动/鲁棒控制/滑模控制/位置控制/姿态控制Key words
quadrotor UAV/visual landing/tau theory/disturbance resistance/robust control/sliding-mode con-trol/position control/attitude control分类
信息技术与安全科学引用本文复制引用
刘锦涛,吴文海,张源原,李静..基于视觉的无人机鲁棒tau控制方法研究[J].哈尔滨工程大学学报,2016,37(2):192-197,230,7.基金项目
国家自然科学基金资助项目（11461075）． （）
