Quad-Rotor Switching Control: An Application for the Task of Path Following

Luis-Rodolfo Garcia Carrillo (1) , Gerardo Flores (2) , Guillaume Sanahuja (2) , Rogelio Lozano (2, 3)

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

The problem of vision-based road following using a quad-rotor is addressed. The objective consists of estimating and tracking a road without a priori knowledge of such path. For thispurpose, two operational regions are defined: one for the case when the road is detected, and the other one for when it is not. A switching between imaging and inertial sensors measurements allows estimating the required vehicle's parameters in both regions. Also, for dealing with both aforementioned cases, a switching control strategy which stabilizes the vehicle's lateral position is proposed. The performance of the proposed switching methodologies is tested in real time experiments.

Mots clés: trajectory traching; quad-rotor; vision system; Switching Control

Domaines: Automatique; Automatique / Robotique

Luis-Rodolfo Garcia Carrillo, Gerardo Flores, Guillaume Sanahuja, Rogelio Lozano. Quad-Rotor Switching Control: An Application for the Task of Path Following. American Control Conference (ACC 2012), Jun 2012, Montréal, Canada. pp.4637-4642. ⟨hal-00776113⟩