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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    Title :

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


    Contributors:
    Carrillo, L. R. G. (author) / Dzul, A. (author) / Lozano, R. (author)


    Publication date :

    2012-10-01


    Size :

    2391541 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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