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

被引：8
|
作者：
Garcia-Carrillo, Luis Rodolfo [1 ]
Rondon, Eduardo
Dzul, Alejandro [2 ]
Sanchez, Anand
Lozano, Rogelio [3 ,4 ]
机构：
[1] CINVESTAV, Lab FrancoMexicain Informat Automat LAFMIA, UMI CNRS 3175, Mexico City, DF, Mexico
[2] Inst Tecnol Laguna, Torreon, Coahuila, Mexico
[3] Univ Technol Compiegne, UMR CNRS 6599, F-60206 Compiegne, France
[4] CINVESTAV, LAFMIA UMI 3175, Mexico City, DF, Mexico
来源：
49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2010年
关键词：
REAL-TIME STABILIZATION; GLOBAL STABILIZATION; TRACKING;
D O I：
10.1109/CDC.2010.5717869
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1662 / 1667
页数：6
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