Title :
Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers using Visual Feedback
Author :
Carrillo, L. R García ; Dzul, A. ; Lozano, R.
Author_Institution :
CINVESTAV, Mexico City, Mexico
fDate :
10/1/2012 12:00:00 AM
Abstract :
This article presents 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 unmanned aerial vehicle (UAV) when using visual feedback. We propose a vision-based method to measure translational speed as well as the UAV 3D position in a local frame. The three 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.
Keywords :
autonomous aerial vehicles; helicopters; nonlinear control systems; position control; stability; variable structure systems; UAV 3D position; backstepping; control techniques; hovering quad-rotor control; local frame; nested saturations; nonlinear controllers; position stabilization; quad-rotor unmanned aerial vehicle; sliding modes; visual feedback; Backstepping; Cameras; Computer vision; Equations; Image motion analysis; Optical imaging; Visualization;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2012.6324687