本文選題：四旋翼無人飛行器 + 視覺伺服��； 參考：《計算機仿真》2016年02期

【摘要】：針對四旋翼無人飛行器的視覺伺服控制技術問題,為了使無人發(fā)生器實現(xiàn)穩(wěn)定飛行,準確跟蹤目標,采用四元數(shù)對飛行器姿態(tài)進行描述,并建立系統(tǒng)的非線性誤差模型,選用基于HSV顏色空間的顏色特征提取的方法實現(xiàn)目標跟蹤,再通過三角法則獲取飛行器位置信息,考慮系統(tǒng)的內(nèi)部模型不確定性及外界擾動,引入自抗擾控制技術設計了水平位置控制器與姿態(tài)控制器。通過實驗結果分析,改進的飛行器視覺伺服控制器可以準確地跟蹤目標,并且控制系統(tǒng)魯棒性強,跟蹤誤差小,能夠有效完成視覺伺服控制任務。
[Abstract]:Aiming at the problem of visual servo control technology of four-rotor unmanned aerial vehicle (UAV), in order to make unmanned generator fly stably and track target accurately, quaternion is used to describe the attitude of the vehicle, and the nonlinear error model of the system is established. The method of color feature extraction based on HSV color space is used to realize target tracking, and then the position information of aircraft is obtained by triangle rule, considering the uncertainty of the internal model and the external disturbance of the system. The horizontal position controller and attitude controller are designed by introducing the active disturbance rejection control technology. Through the analysis of the experimental results, the improved visual servo controller can track the target accurately, and the control system has strong robustness and small tracking error, which can effectively accomplish the task of visual servo control.
【作者單位】： 河南機電高等專科學校電氣工程系;河南機電高等�？茖W校自動控制系;
【分類號】：V249.1
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本文編號：2087798