Real-time robust tracking control for a quadrotor using monocular vision

被引：3

作者：

Montoya-Morales, J. R. ^{[1
]}

Guerrero-Sanchez, M. E. ^{[2
,4
]}

Valencia-Palomo, G. ^{[1
]}

Hernandez-Gonzalez, O. ^{[2
]}

Lopez-Estrada, F. R. ^{[3
]}

Hoyo-Montano, J. A. ^{[1
]}

机构：

[1] IT Hermosillo, Tecnol Nacl Mexico, Hermosillo, Mexico

[2] IT Hermosillo, CONACYT Tecnol Nacl Mexico, Hermosillo, Mexico

[3] Tecnol Nacl Mexico, IT Tuxtla Gutierrez, Tuxtla Gutierrez, Mexico

[4] CONACYT Tecnol Nacl Mexico, ITHermosillo, MX SON, Ave Tecnol SN, Hermosillo 83170, Mexico

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING | 2023年 / 237卷 / 12期

关键词：

robust control; experimental tests; monocular vision; quadrotor; sliding mode; TRAJECTORY TRACKING;

D O I：

10.1177/09544100231158265

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper, the autonomous trajectory-tracking problem for an Unmanned Aerial Vehicle (UAV) based on Sliding Mode Control (SMC) algorithms is treated. The control system is implemented in real-time to stabilize a commercial AR.Drone 2.0 quadrotor using monocular vision. The under-actuated mathematical model is based on the Newton-Euler formulation. The algorithm allows the stabilization of the quadrotor in all its states under the simultaneous effect of parametric uncertainties and constant external disturbances. The vision algorithm uses a monocular camera to estimate the vehicle's position. The experimental test results and numerical simulations show the effectiveness and robustness of the proposed controller.

引用

页码：2729 / 2741

页数：13

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