Real-time robust tracking control for a quadrotor using monocular vision
| Autor: | JR Montoya-Morales, ME Guerrero-Sánchez, G Valencia-Palomo, O Hernández-González, FR López-Estrada, JA Hoyo-Montaño |
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| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. :095441002311582 |
| ISSN: | 2041-3025 0954-4100 |
| DOI: | 10.1177/09544100231158265 |
| Popis: | In this paper, the autonomous trajectory-tracking problem for an Unmanned Aerial Vehicle (UAV) based on Sliding Mode Control (SMC) algorithms is treated. The control system is implemented in real-time to stabilize a commercial AR.Drone 2.0 quadrotor using monocular vision. The under-actuated mathematical model is based on the Newton-Euler formulation. The algorithm allows the stabilization of the quadrotor in all its states under the simultaneous effect of parametric uncertainties and constant external disturbances. The vision algorithm uses a monocular camera to estimate the vehicle’s position. The experimental test results and numerical simulations show the effectiveness and robustness of the proposed controller. |
| Databáze: | OpenAIRE |
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