Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback
Luis Rodolfo Garcia-Carrillo,Eduardo Rondon,Alejandro Dzul,Anand Sanche,Rogelio Lozano +4 more
- pp 1662-1667
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TLDR
A method to measure translational speed as well as the UAV 3D position in a local frame and the performance of three control techniques: Nested Saturations, Backstepping and Sliding Modes is presented.Abstract:
In this paper, we present a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes. The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor when using visual feedback. We propose a method to measure translational speed as well as the UAV 3D position in a local frame. The selected controllers were implemented and tested in real-time experiments. The obtained results demonstrate the performance of such methodologies applied to the quad-rotor system.read more
Citations
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Dissertation
Vision-based hovering and trajectory tracking of a quad-rotor
Garcia Carrillo,Luis Rodolfo +1 more
TL;DR: In this paper, the authors propose a strategy for stabilizing the position tridimensionnelle of a quadri-rotor based on information visuelle, inertielle, and capteur d'altitude.
Proceedings ArticleDOI
Hybrid position-attitude control of DF-UAV based on generalized flight dynamics
TL;DR: In this article, the authors considered an integrated modeling of DF-UAV and proposed a layered design method for the hybrid position-attitude controller based on the reference feedback and dynamic decoupling.
Proceedings ArticleDOI
Design of Adaptive Controller for Bilateral Control Systems Including a Propeller-Driven System
TL;DR: An adaptive controller that estimates the stiffness of a contact object in real time and uses the stiffness for a control gain and the validity of the proposed controller is verified via simulations and experiments.
Proceedings ArticleDOI
A Simple Heuristic Approach for Attitude/Altitude Control of a Quadrotor with Uncertain Parameters
Amit Ailon,Shai Arogeti +1 more
TL;DR: A simple control procedure for a quadrotor that ensures convergence to a required altitude and attitude set-points under conditions of unknown physical parameters and complies with the system structure which restricts the thrust force to act in one direction is presented.
Proceedings ArticleDOI
Modeling and Analysis of Quad-Rotor Aircraft Based on Kane Method
TL;DR: Aiming at the Four-rotor aircraft with complex dynamic characteristics, the Kane method is proposed to derive the mechanical model of the aircraft and it is concluded that one of the main reasons for thenon-linearity of aircraft is the non-linearization of kinematics equation.
References
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TL;DR: The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Proceedings ArticleDOI
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
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Real-time stabilization and tracking of a four-rotor mini rotorcraft
TL;DR: Real-time experiments show that the proposed controller is able to perform autonomously the tasks of taking off, hovering, and landing and the global stability analysis of the closed-loop system is presented.
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