Visual Servo Control Method for Quadrotor UAV Based on Nonsingular Fast Terminal Sliding Mode

Abstract

The invention relates to the technical field of flying robot control, and provides a visual servo control method of a quad-rotor unmanned aerial vehicle based on NFTSM, and the method realizes the flying control of the quad-rotor unmanned aerial vehicle by means of an airborne camera and an inertial measurement element under an indoor environment without GPS signals. The technical scheme adopted by the invention is as follows: the visual servo control method of the quad-rotor unmanned aerial vehicle based on the NFTSM comprises the following steps: acquiring image information by using a cameraarranged at the bottom of the quad-rotor unmanned aerial vehicle, and acquiring attitude angle and angular velocity information of the unmanned aerial vehicle by using the inertial measurement element; extracting feature points of the ground target by using a perspective projection method to select proper image features; respectively designing position and attitude controllers of the quad-rotor aircraft according to image features to realize autonomous flight control of the quad-rotor unmanned aerial vehicle; and carrying out simulation and experimental verification. The visual servo controlmethod of the quad-rotor unmanned aerial vehicle based on NFTSM realizes the purpose that the unmanned aerial vehicle realizes autonomous and accurate flight control under the environment of GPS signal loss.

Description

technical field [0001] The invention relates to the technical field of flying robot control, in particular to an NFTSM-based visual servo control method for a quadrotor UAV in an environment where GPS signals are missing. Background technique [0002] Unmanned Aerial Vehicle (UAV) has many advantages and a wide range of applications. It has been widely used in search, rescue, surveillance, aerial photography, remote sensing and other fields. Compared with manned aircraft and fixed-wing UAVs, quadrotor UAVs make it possible to search for narrow spaces due to their small size, vertical take-off and landing, and maneuverability, and it is more convenient to conduct flight tests indoors ; In addition, it is driven by batteries instead of fuel, so even if a collision occurs, it will not pose a serious threat to humans, and its safety has been greatly improved. In recent years, due to its small size, low cost, easy operation, easy maintenance, and adaptability to harsh environmen...

AI Technical Summary

Problems solved by technology

At present, outdoor autonomous aircraft generally use the GPS system to achieve positioning. However, the strength of the GPS signal greatly affects the positioning accuracy, especially in environments where the GPS is weak or even invalid, such as indoors, caves, and cities with many buildings, a reliable method is needed. To control the autonomous flight of the aircraft, so the visual sensor is favored by the researchers

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