Vision-based fixed point robust control method for airship

Abstract

The invention relates to a vision-based fixed point robust control method for an airship, which comprises the following steps of: defining a ground coordinate system, an aircraft body coordinate system, a speed coordinate system and an image coordinate system and determining a mounting mode of an airborne camera on the basis; extracting an attitude angle of the airship according to the projectivegeometry principle; obtaining a nonlinear equations set containing the attribute and the position of the airship according to a binocular vision parallax principle; and substituting the attitude angle obtained in the second step into the nonlinear equations set to obtain the position of the airship. By adopting the robust self-adaptive fixed point control scheme for designing the airship by adopting a Backstepping method as well as a Backstepping control scheme provided by analyzing and proving, the bounded stability of a closed loop system can be effectively ensured; and the attitude angle and the position information obtained on the basis of an image are combined with control so that the closed loop control is realized. In the vision-based fixed point robust control method, the positionand attribute information extracted by using a position and attribute estimation algorithm is loaded into an airship fixed point control technology to realize the vision-based control to the fixed points of the airship.

Description

technical field [0001] The invention belongs to the field of airship flight control, in particular to a vision-based fixed-point robust control method for an airship. Background technique [0002] At present, airships have attracted people's attention and are widely used in various fields such as freight, advertising, surveillance, and military missions. An airship is a maneuverable aircraft that is lighter than air. It floats in the air by the buoyancy of the light gas enclosed by the air bag, and can fly in the air by the power of the engine. As a kind of aircraft, the biggest advantage of the airship is that it has an unparalleled time in the air, and its air time can be calculated in days. At the same time, the airship can also fly stably in the air quietly, which also has important military applications. At present, military airships generally use helium to maintain buoyancy, so they can complete lifting and flight quietly and smoothly, which is crucial for carrying m...

AI Technical Summary

Problems solved by technology

Two key issues that need to be solved are: 1. Estimation of airship position and attitude

However,

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