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针对艇载无人机的自主降落问题，提出一种基于模糊视觉伺服的艇载无人机自主降落控制方法。首先，构建基于视觉伺服的无人机-艇相对运动模型。其次，在控制结构上采用基于图像的视觉伺服方法实现位置控制，并在姿态回路中引入串级模糊PID控制器，以实现控制参数的在线调节，提升系统对模型不确定性和外部扰动的适应能力。最后，与基于传统PID的视觉伺服控制方案进行对比仿真，结果表明在x、y、z位置及横滚、俯仰、偏航姿态等六个自由度上，所提方法的积分绝对误差分别降低了56.64%、53.38%、45.13%、89.29%、87.24%和92.89%，显著提升了艇载无人机在动态着艇工况下的姿态控制性能并在位置控制上取得了不同程度的改善，验证了所提控制方法的有效性。
Abstract：To address the autonomous landing challenge for vessel-based unmanned aerial vehicles(UAVs), this study proposes a control method based on fuzzy visual servo control. Firstly, a relative motion model between the UAV and vessel is established using visual servo principles. Secondly, an image-based visual servo approach implements position control within the control structure, while a cascaded fuzzy PID controller is introduced into the attitude loop to enable online parameter adjustment. This enhances the system's adaptability to model uncertainties and external disturbances. Finally, comparative simulations with a traditional PID-based visual servo control scheme demonstrate that the proposed method reduces the integral absolute error by 56.64%, 53.38%, 45.13%, 89.29%, 87.24% and 92.89% respectively, across the six degrees of freedom(x, y, z position, roll, pitch, yaw). This significantly enhances the attitude control performance of the UAV during dynamic landing operations and achieves varying degrees of improvement in position control, validating the effectiveness of the proposed control method.
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基本信息:
DOI：10.19942/j.issn.2096-5915.2026.01.03
中图分类号:V271.492;V249.1
引用信息:
[1]王昱,陈毅,刘沅浩,等.基于模糊视觉伺服的艇载无人机自主降落控制设计[J].无人系统技术,2026,9(01):38-50.DOI:10.19942/j.issn.2096-5915.2026.01.03.
基金信息:
江苏省基础研究计划(BK20240349); 国家自然科学基金(B250201090)
2026-02-15
2026-02-15