Real-time robust tracking control for a quadrotor using monocular vision

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Real-time robust tracking control for a quadrotor using monocular vision

Montoya-Morales, JR / Guerrero-Sánchez, ME / Valencia-Palomo, G / Hernández-González, O / López-Estrada, FR / Hoyo-Montaño, JA

Abstract

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.

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Dokumentinformationen

Titel :

Real-time robust tracking control for a quadrotor using monocular vision

Beteiligte:

Montoya-Morales, JR (Autor:in) / Guerrero-Sánchez, ME (Autor:in) / Valencia-Palomo, G (Autor:in) / Hernández-González, O (Autor:in) / López-Estrada, FR (Autor:in) / Hoyo-Montaño, JA (Autor:in)

Erschienen in:

Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering ; 237 , 12 ; 2729-2741

Erscheinungsdatum :

2023-09-01

Format / Umfang :

13 pages

ISSN :

0954-4100 , 2041-3025

DOI :

https://doi.org/10.1177/09544100231158265

Medientyp :

Aufsatz (Zeitschrift)