Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback

Author

Garcia-Carrillo, Luis Rodolfo ; Rondon, Eduardo ; Dzul, Alejandro ; Sanche, A. ; Lozano, Rogelio

Author_Institution

CNRS, Univ. de Technol. de Compiegne, Compiègne, France

fYear

2010

fDate

15-17 Dec. 2010

Firstpage

1662

Lastpage

1667

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.

Keywords

computer vision; control engineering computing; helicopters; nonlinear control systems; position control; remotely operated vehicles; stability; variable structure systems; UAV 3D position; backstepping; hovering quad rotor control; nested saturations; nonlinear controllers; position stabilization; sliding modes; visual feedback; Backstepping; Cameras; Equations; Rotors; Unmanned aerial vehicles; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2010 49th IEEE Conference on

Conference_Location

Atlanta, GA

ISSN

0743-1546

Print_ISBN

978-1-4244-7745-6

Type

conf

DOI

10.1109/CDC.2010.5717869

Filename

5717869