In this paper, a robust visual servoing control approach is proposed to address the landing problem for quadrotors on a moving platform. A vision system is implemented to estimate the position and velocity of the quadrotor. A robust cascade controller is proposed by following backstepping-like fundamentals and robust compensating theory. The effects of time-varying uncertainties, including parameter uncertainties and external disturbances, and time-varying delays resulted from image acquisition, image processing, and sensor measurement delays can be restrained. Experimental results using a quadrotor to land on a ground moving target illustrate the effectiveness of the proposed approach.

本文提出了一种鲁棒的视觉伺服控制方法来解决四旋翼飞机在移动平台上的着陆问题。实施视觉系统以估计四旋翼的位置和速度。提出了一种鲁棒的级联控制器，该算法遵循类似反步法的基本原理和鲁棒补偿理论。可以抑制随时间变化的不确定性（包括参数不确定性和外部干扰）的影响，以及由于图像采集，图像处理和传感器测量延迟而导致的随时间变化的延迟。使用四旋翼飞机降落在地面移动目标上的实验结果证明了该方法的有效性。