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.


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    Title :

    Perching Control for UAV Based on Feedback Control and Visual Servo


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Jiachen, Qin (author) / Zhou, Zhou (author)

    Conference:

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



    Publication date :

    2023-03-10


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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