Visual landing system of UAV based on ADRC

Wei Bai, Feng Pan, Bo Yang Xing, Chao Pan, Meng Xin Pei

科研成果: 书/报告/会议事项章节会议稿件同行评审

4 引用 (Scopus)

摘要

The fixed-point landing technology of multi-rotor aircraft is an indispensable step to realize fully autonomous flight. Most of the aircraft in the horizontal positioning relies on visual guidance, and PID control is generally used in height control, but it is difficult to resist the interference of the aircraft at low altitude spoiler. The Active Disturbance Rejection Controller(ADRC) designed in this paper can compensate the unknown disturbance independently of the exact model of the system, and effectively overcome the above problems. By detecting the target circle, the displacement vector from the center of the image to the center of the circle can be calculated, and then output the horizontal control amount to realize the horizontal alignment of the aircraft. Simultaneously, the landing height of the aircraft is controlled by using the auto-disturbance rejection controller. The experimental results show that the proposed algorithm can eliminate all kinds of spoiler disturbances at low altitude by feedforward compensation, and make the four-rotor aircraft landing in the target area quickly, steadily and accurately.

源语言英语
主期刊名Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
出版商Institute of Electrical and Electronics Engineers Inc.
7509-7514
页数6
ISBN(电子版)9781509046560
DOI
出版状态已出版 - 12 7月 2017
活动29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, 中国
期限: 28 5月 201730 5月 2017

出版系列

姓名Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

会议

会议29th Chinese Control and Decision Conference, CCDC 2017
国家/地区中国
Chongqing
时期28/05/1730/05/17

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