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.


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    Titel :

    Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers using Visual Feedback


    Beteiligte:
    Carrillo, L. R. G. (Autor:in) / Dzul, A. (Autor:in) / Lozano, R. (Autor:in)


    Erscheinungsdatum :

    01.10.2012


    Format / Umfang :

    2391541 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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