Stability analysis of a vision-based UAV controller for autonomous road following missions
| Autor: | L. R. García Carrillo, Adrián Ramírez, Rogelio Lozano, Eduardo S. Espinoza, Sabine Mondié |
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| Přispěvatelé: | Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université Joseph Fourier - Grenoble 1 (UJF)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS), Center for Control, Dynamical-Systems, and Computation [Santa Barbara] (CCDC), University of California [Santa Barbara] (UCSB), University of California-University of California, Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Engineering PD control Separation (aeronautics) Stability (learning theory) image sensors 02 engineering and technology Task (project management) 020901 industrial engineering & automation Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering Time domain Motion planning Image sensor path planning control system analysis Vision based business.industry Control engineering stability robot vision helicopters 020201 artificial intelligence & image processing control system synthesis business autonomous aerial vehicles |
| Zdroj: | International Conference on Unmanned Aircraft Systems (ICUAS 2013) International Conference on Unmanned Aircraft Systems (ICUAS 2013), May 2013, Atlanta, GA, United States. pp.1135-1143, ⟨10.1109/ICUAS.2013.6564804⟩ |
| DOI: | 10.1109/ICUAS.2013.6564804⟩ |
| Popis: | International audience; The stability analysis of a vision-based control strategy for a quad rotorcraft UAV is addressed. In the present application, the imaging sensing system provides the required states for performing autonomous navigation missions, however, it introduces latencies and time-delays from the time of capture to the time when measurements are available. To overcome this issue, a hierarchical controller is designed considering a timescale separation between fast and slow dynamics. The dynamics of the fast-time system are stabilized using classical proportional derivative controllers. Additionally, delay frequency and time domain techniques are explored to design a controller for the slow-time system. Simulations and experimental results consisting on a vision-based road following task are presented, verifying the efficacy of the approach and showing the benefits of the stability analysis performed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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