Four-rotor unmanned aerial vehicle visual servo control method using disturbance observer and nonlinear speed observer

Abstract

The invention discloses a four-rotor unmanned aerial vehicle visual servo control method using a disturbance observer and a nonlinear speed observer. The method comprises the steps: establishing a corresponding dynamic model according to the space motion condition of a four-rotor unmanned aerial vehicle; selecting an image moment as a visual servo feature, fusing a virtual feature plane, and establishing image feature dynamics under a virtual camera plane; designing a dynamic visual servo controller based on an image, firstly, analyzing and designing a disturbance observer according to the acceptance condition of the quad-rotor unmanned aerial vehicle, then, designing a speed observer in a virtual camera plane, and finally, designing a sliding mode controller based on exponential approaching by using a backstepping method. Therefore, the robustness of the quad-rotor unmanned aerial vehicle to external disturbance can be improved, the non-measurable image feature linear velocity in the virtual image plane can be accurately estimated, and the robustness of the system can be further improved by the sliding mode controller based on exponential approaching finally.

Description

technical field [0001] The invention belongs to the technical field of visual servo control, and in particular relates to a visual servo control method for a quadrotor unmanned aerial vehicle using a disturbance observer and a nonlinear speed observer. Background technique [0002] In recent years, unmanned aerial vehicles (UAVs) have attracted much attention in military and civilian fields due to their many advantages and huge application potential. At present, multi-rotor drones, especially quad-rotor drones, have been widely used, such as aerial photography and rescue. A distinctive feature of multi-rotor UAVs is vertical take-off and landing, and quad-rotor UAVs are a typical example. [0003] Quadrotor drones are generally composed of inertial navigation systems, flight controllers, power motors, and other auxiliary systems. In addition, most quadrotor drones will carry a low-cost monocular camera, so the automation level of quadrotor drones can be further improved wi...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a visual servo control method for a quadrotor UAV using a disturbance observer and a nonlinear velocity observer, which can solve the problems of external disturbance and velocity observation in the prior art

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