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

Luis Rodolfo Garcia Carrillo (1) , Alejandro Dzul (2) , Rogelio Lozano (3, 4)

1 CCDC - Center for Control, Dynamical-Systems, and Computation [Santa Barbara]
2 ITL - Instituto Tecnologico de la Laguna
3 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
4 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique

This article presents 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 unmanned aerial vehicle (UAV) when using visual feedback. We propose a vision-based method to measure translational speed as well as the UAV 3D position in a local frame. The three 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.

Mots clés: Optical imaging; Visualization; Equations; Image motion analysis; Backstepping; Cameras; Computer vision

Domaines: Robotique [cs.RO]

Luis Rodolfo Garcia Carrillo, Alejandro Dzul, Rogelio Lozano. Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback. IEEE Transactions on Aerospace and Electronic Systems, 2012, 48 (4), pp.3159-3170. ⟨10.1109/TAES.2012.6324687⟩. ⟨hal-00776033⟩