四旋翼无人机基于图像的抗干扰视觉伺服控制

Image Based Anti-disturbance Visual Servo Control of Quadrotor UAVs

针对四旋翼无人机视觉伺服过程中易受到干扰的问题,利用积分反步滑模控制方法设计基于图像的四旋翼无人机视觉伺服抗干扰的非线性控制器。选择图像矩作为特征,利用虚拟相机平面改进存在模型不确定和外部干扰的动力学模型。针对难以直接测量的虚拟平面的线速度,通过反步法设计线速度估计器,提高了控制的准确性。通过Lyapunov理论证明了所提出的全局积分反步滑模控制器的稳定性。仿真实验结果证明了设计的控制器的有效性和鲁棒性。

In the visual servo process,the quadrotor UAV is prone to be interfered.To solve the problem,a nonlinear anti-disturbance controller for image-based visual servo control of the quadrotor UAV is designed by using an integral backstepping sliding mode control method.Image moments are chosen as features.The virtual camera plane is used to improve the dynamic model in the presence of model uncertainties and external disturbances.As for the linear velocity of virtual plane that is hard to measure directly,a linear velocity estimator is designed by using the backstepping method to improve the accuracy of control.The stability of the proposed global integral backstepping sliding mode controller is proved by using Lyapunov theory.The simulation experiment results demonstrate the effectiveness and robustness of the designed controller.