Comparative Study of Control Approaches Designed for a Quadrotor in a Visual Servoing Task without Observers

Choukri Bensalah , Nacer Kouider M'Sirdi (1) , Aziz Naamane (2, 3)

1 LIS - Laboratoire d'Informatique et des Systèmes (LIS) (Marseille, Toulon)
2 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
3 LIS - Laboratory of Intelligent Systems

The performance and characteristics of four controllers applied to a quadrotor UAV are analyzed in this paper. The compared control approaches are: PID, Linearizing Feedback, Backstepping Approach and Sliding Mode based control. A suitable and efficient structure is proposed for control laws implementation. Standard sensors are used and need of observer is avoided by use of IBVS. The comparative analysis is done for the UAV in Visual Servoing Task. It is based on tracking errors during transients and at steady state, and on the performance and robustness with respect to plant model, to environment perturbations (in sensors and actuators) and uncertainties.

Domaines: Automatique / Robotique

Choukri Bensalah, Nacer Kouider M'Sirdi, Aziz Naamane. Comparative Study of Control Approaches Designed for a Quadrotor in a Visual Servoing Task without Observers. ICSC 2019, Oct 2019, marrakech, Morocco. ⟨hal-02471609⟩