In automatic travel control of a flying device towards a target, when a current distance from the target is large in comparison to a prescribed distance threshold, a controller of the flying device performs velocity feedback PID control to control the flight propulsion unit of the flying device. When the current distance becomes small in comparison to the prescribed distance threshold, the controller performs a hybrid of the velocity feedback PID control and position feedback PID control to control the flight propulsion unit such that as the flying device approaches the target, the position feedback PID control becomes more dominant than the velocity PID control. The processor calculates a weighted average of the respective manipulated variables with dynamically adjusted weights to achieve the hybrid control.
FLYING DEVICE, METHOD OF CONTROLLING FLYING DEVICE, AND STORAGE MEDIUM
27.06.2019
Patent
Elektronische Ressource
Englisch
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