Vision-based fixed point robust control method for airship
A robust control and airship technology, applied in the field of airship flight control, can solve problems such as airship position and attitude estimation
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[0028] figure 1It is the overall control block diagram of the airship. Its system is divided into the ship-borne part and the ground control station part. The specific working principle is: firstly, the ship-borne camera takes a sequence of images of ground markers, transmits them through the ship-mounted antenna, and receives them from the ground station. The device receives and transmits to the ground station control computer. The ground computer quickly processes it to obtain the features of the markers, and completes the estimation of the attitude and position of the airship through these features. Then the airship's attitude and position estimates are transmitted by the transmitting antenna on the ground, received by the receiving equipment on the airship, and transmitted to the on-board computer, which completes the proportional combination of the estimated value and the signal measured by the on-board sensor The control feedback signal is formed by merging in the same ...
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