基于自抗扰技术的四旋翼飞行器视觉伺服控制器设计

Quadrotor Visual Servo Controller Design Based on ADRC Technology

摘要:

基于自抗扰控制技术的四旋翼飞行器视觉伺服控制器克服了惯性传感器无法获取位置信息的缺点,提高了飞行器的灵活性,能够胜任更复杂的任务;文章主要针对基于四旋翼无人飞行器的视觉伺服控制技术问题展开相关研究;选用基于HSV颜色空间的颜色特征提取的方法实现目标跟踪,再通过三角形法则确定飞行器与目标在世界坐标下的相对位置,最后引入自抗扰控制技术设计了水平位置控制器与姿态控制器;通过实验结果分析,文章设计的飞行器视觉伺服控制器可以准确地跟踪目标并实施高精度定位,并且控制系统鲁棒性强,跟踪误差小,能够有效地完成视觉伺服控制任务。

Abstract:

As the inertial sensor can not get the location information,the Quadrotor visual servo control technology based on the ADRC overcomes the shortcoming which improve the flexibility of the Quadrotor and can be able to do more complex tasks. This paper is focused on the problems of Quadrotor visual servo control in order to improve the technology. In order to accurately get visual feedback information, the MeanShift method has been selected to achieve target tracking, then we can get the relative position between the Quadrotor and the target in the world coordinates through the triangle rule. Last,the horizontal controller and attitude controller were designed by used the ADRC. The simulation analysis and experimental results show that the designed visual servo control system can track target accurate and implement high precision positioning, in the meantime the control system has strong robust, small tracking errors and could complete visual servo control task very effectively.