VSDRL: A robust and accurate unmanned aerial vehicle autonomous landing scheme
Chen, Dechao; Shi, Chentong; Pan, Xiaofeng; Jin, Jie; Li, Shuai (2025-01-16)
Institution of engineering and technology
16.01.2025
Chen, D., Shi, C., Pan, X., Jin, J., Li, S.: VSDRL: A robust and accurate unmanned aerial vehicle autonomous landing scheme. IET Control Theory Appl. 19, e70002 (2025). https://doi.org/10.1049/cth2.70002
https://creativecommons.org/licenses/by-nc-nd/4.0/
© 2025 The Author(s). IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.
https://creativecommons.org/licenses/by-nc-nd/4.0/
© 2025 The Author(s). IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.
https://creativecommons.org/licenses/by-nc-nd/4.0/
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:oulu-202504232842
https://urn.fi/URN:NBN:fi:oulu-202504232842
Tiivistelmä
Abstract
Visually assisted unmanned aerial vehicle (UAV) autonomous landing has drawn a lot of interest as a vital technology with the quick development of UAV systems. From the perspective of robustness, a visual servoing disturbance rejection landing (VSDRL) scheme based on fractional-order linear active disturbance rejection control is novelly proposed to achieve the disturbance-resistant landing. The proposed VSDRL scheme is constructed by two modules: (i) A visual positioning algorithm combining YOLOv5 with Kalman filtering to solve the occlusion problem in the visual positioning module obtaining the relative position relationship; (ii) On the basis of linear active disturbance rejection control, fractional order is introduced to improve the antidisturbance ability and response speed. Theoretical analysis, computer simulations and real UAV experiments all verify the effectiveness and superiority of the proposed VSDRL scheme.
Visually assisted unmanned aerial vehicle (UAV) autonomous landing has drawn a lot of interest as a vital technology with the quick development of UAV systems. From the perspective of robustness, a visual servoing disturbance rejection landing (VSDRL) scheme based on fractional-order linear active disturbance rejection control is novelly proposed to achieve the disturbance-resistant landing. The proposed VSDRL scheme is constructed by two modules: (i) A visual positioning algorithm combining YOLOv5 with Kalman filtering to solve the occlusion problem in the visual positioning module obtaining the relative position relationship; (ii) On the basis of linear active disturbance rejection control, fractional order is introduced to improve the antidisturbance ability and response speed. Theoretical analysis, computer simulations and real UAV experiments all verify the effectiveness and superiority of the proposed VSDRL scheme.
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