Implementation of back-stepping integral controller for a gesture driven quad-copter with human detection and auto follow feature

This work demonstrates building an ETH´s back-stepping integral controller based quad-copter, and is driven by human gestures. A novel application of computer vision is introduced for easy operation of quad-copters. Furthermore a method for detecting and auto follow of human is devised in the quad-copter. The design and modeling have been successfully realized on the 450mm sized X-configured quad-copter built during this project. This paper also demonstrates a MATLAB framework, to simulate and analyze the performance of a quad-rotor designed with back-stepping integral controller. It gives a synopsis of the controller used in ETH OS4 quad-rotor and presents an easy to use GUI to tune the controller while designing the quad-rotor.