In this work, a solution to outdoor trajectory tracking using quadrotors is presented. The unmanned aerial vehicles (UAVs) navigate under the leader-follower formation, where the pose of the leader is estimated using its onboard sensors, and the pose of the follower by position-based visual servoing. To handle the outdoor environment perturbations, unmodeled vehicle dynamics, and dynamic disturbances caused by wind and varying lightning conditions, a robust sliding mode controller is used. The proposal is experimentally validated using two Parrot Bebop 2 quadrotors in an outdoor scenario. The obtained results allow concluding that the proposed control system is able to accomplish trajectory tracking under parametric uncertainties and real-world disturbances.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Outdoor navigation using two quadrotors and adaptive sliding mode control




    Publication date :

    2020-09-01


    Size :

    4109728 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    A passive velocity field for navigation of quadrotors with model-free integral sliding mode control

    Munoz-Vazquez, A.-J. / Parra-Vega, V. / Sanchez, A. et al. | IEEE | 2013



    Integral sliding mode backstepping control of quadrotors for robust position tracking

    Ramirez-Rodriguez, H. / Parra-Vega, V. / Sanchez, A. et al. | IEEE | 2013


    Navigation of Indoor Spaces Using Multiple Quadrotors

    Katona, Brian / Morgansen, Kristi | AIAA | 2019