This paper presents a perching control strategy for a novel tiltable Unmanned Aerial Vehicle (UAV). The control scheme is based on the position-based visual servo and double-loop control method. Firstly, the dynamic model and perching strategy are established according to specific configuration of the UAV. Secondly, in controller design, proportional-integral-derivative (PID) control method is adopted, and a scheme that fuses image data and inertial measurement unit (IMU) data is designed for feedback in the control loop. Finally, the simulation results show the effectiveness of the perching control strategy proposed in this paper.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Perching Control for UAV Based on Feedback Control and Visual Servo


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Fu, Wenxing (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Jiachen, Qin (Autor:in) / Zhou, Zhou (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022



    Erscheinungsdatum :

    10.03.2023


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    PERCHING ROBOT AND PERCHING METHOD OF PERCHING ROBOT

    YANG GUODONG / ZHANG YANFENG / TIAN YUNONG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Supermaneuverable perching

    Cory, Rick E. (Rick Efren) | DSpace@MIT | 2010

    Freier Zugriff

    Methods for Perching

    HACHTMANN BRIAN / VANDER LIND DAMON | Europäisches Patentamt | 2015

    Freier Zugriff

    METHODS FOR PERCHING

    HACHTMANN BRIAN / VANDER LIND DAMON | Europäisches Patentamt | 2015

    Freier Zugriff