Vision-based nonlinear control of quadrotors using the photogrammetric technique

DOI10.1155/2020/5146291MaRDI QIDQ2214846zbMATH OpenOpenAlexFDO

Authors José Trinidad Guillén-Bonilla, Claudia Carolina Vaca García, Stefano Di Gennaro, María Eugenia Sánchez Morales, Cuauhtémoc Acosta Lúa

Publication date 10 December 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/5146291

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Variable structure systems (93B12) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: This paper presents a controller designed via the backstepping technique, for the tracking of a reference trajectory obtained via the photogrammetric technique. The dynamic equations used to represent the motion of the quadrotor helicopter are based on the Newton-Euler model. The resulting quadrotor model has been divided into four subsystems for the altitude, longitudinal, lateral, and yaw motions. A control input is designed for each subsystem. Furthermore, the photogrammetric technique has been used to obtain the reference trajectory to be tracked. The performance and effectiveness of the proposed nonlinear controllers have been tested via numerical simulations using the Pixhawk Pilot Support Package developed for Matlab/Simulink.

Recommendations

• Asymptotic vision-based tracking control of the quadrotor aerial vehicle
• Nonlinear robust control for quadrotor
• Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
• Robust image-based control of the quadrotor unmanned aerial vehicle
• The quadrotor dynamic modeling and indoor target tracking control method

Cites work

• Nonlinear systems.
• Robust block second order sliding mode control for a quadrotor

Cited in

(5)

• The quadrotor dynamic modeling and indoor target tracking control method
• Vision-based trajectory tracking system for an emulated quadrotor UAV
• Monocular camera based trajectory tracking of 3-DOF helicopter
• Bounded‐Input Control of the Quadrotor Unmanned Aerial Vehicle: A Vision‐Based Approach
• Homography-based uncalibrated visual servoing with neural-network-assisted robust filtering scheme and adaptive servo gain

Describes a project that uses

Uses Software

• Simulink

This page was built for publication: Vision-based nonlinear control of quadrotors using the photogrammetric technique

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2214846)