控制理论与应用2016，Vol.33Issue(11)：1492-1500,9.DOI:10.7641/CTA.2016.60061
基于光流的四旋翼直升机鲁棒自主着陆控制
Robust autonomous landing control of quadrotor based on optical flow
摘要
Abstract
For autonomous landing of a small quadrotor, an attitude estimation method is proposed using optical flow, and a robust controller based on signal compensation is designed. Firstly, the ratio of velocity to depth is acquired by singular value decomposition (SVD) from the general optical flow motion model, and the altitude data are obtained by integrating the ratio of vertical speed and altitude. Then, the nonlinear model of the altitude channel is divided into a nominal linear model and an equivalent disturbance considering the influences of the ground effect and other uncertainties. And a robust controller based on signal compensation is designed, which consists of a nominal controller and a robust compensator. The nominal controller is designed for the nominal system to get the desired tracking performance, and the robust compensator is applied to restrain the influence of the equivalent disturbance. Finally, it is proved that the tracking error for the altitude channel can converge to a given neighborhood of the origin in finite time by the robust controller. Landing experimental results for a small quadrotor demonstrate the effectiveness of the proposed altitude estimation method based on optical flow and the robust controller.关键词
无人机/光流/鲁棒控制/自主着陆Key words
unmanned aerial vehicle/optical flow/robust control/automous landing分类
信息技术与安全科学引用本文复制引用
张连华,王京,石宗英,钟宜生..基于光流的四旋翼直升机鲁棒自主着陆控制[J].控制理论与应用,2016,33(11):1492-1500,9.基金项目
国家自然科学基金项目(61374034,61210012)资助.Supported by National Natural Science Foundation of China (61374034,61210012) （61374034,61210012）
