Title :
Controller´s parameters tuning in presence of time-delay measurements: an application to vision-based quad-rotor navigation
Author :
Carrillo, Luis Rodolfo Garcia ; Espinoza, E.S. ; Mondie, Sabine
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of California, Santa Barbara, Santa Barbara, CA, USA
Abstract :
The stability analysis of a quad-rotor rotor-craft which uses a combination of imaging, inertial and altitude sensors to measure its states is addressed. A hierarchical controller is designed in two steps. The fast-time scale dynamics are stabilized using classical PD controllers. The slow time-scale dynamics are analyzed with delay frequency and time domain techniques. The proposal is validated by simulation and experimental results, showing the effectiveness of the method.
Keywords :
PD control; attitude control; computer vision; delays; helicopters; navigation; sensors; stability; tuning; PD controllers; altitude sensors; controller parameters tuning; fast-time scale dynamics; hierarchical controller; inertial sensors; quad-rotor rotor-craft; slow time-scale dynamics; stability analysis; state measurement; time domain techniques; time-delay measurements; vision-based quad-rotor navigation; Delay effects; Equations; Roads; Stability analysis; TV; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426146
