Paper Info
Title
Visual control for trajectory tracking of Quadrotors and real-time analysis on an emulated environment
Abstract
Quadrotor are non-inertial systems with inherent nonlinear, very fast and very unstable dynamics where measurements of their state variables in an absolute frame of reference are very complex in GPS denied environments, such as indoors. In order to design control strategies for Quadrotors, we solve problems of imprecisely known models and noisily, or unavailable, position and speed measurements, and requirements of a safety test-bench for the first stages of design. In this paper, we face the problem of control of a Quadrotor using visual information and of a safe virtual Real-Time test of the controlled system. The contribution is twofold; first we present a model-free control law for tracking non-inertial robots, using as a case of study a Quadrotor, and we propose a Real-Time analysis of the dynamical behavior of the closed-loop system based on experimental data obtained using an emulation-based implementation architecture where the environment is a numerical emulation of the real one. The control of attitude and position are designed based on a Second Order Sliding Mode and PD like approaches, respectively, and the feedback state is obtained visually using an easy to program and portable Particle Filter for positions and a Second Order Differentiator for time derivatives. We describe the numerical simulation test bench and include some results obtained in Real- Time on an emulated environment.
Year
DOI
Venue
2013
10.1109/ACC.2013.6580828
American Control Conference
Keywords
Field
DocType
PD control,attitude control,autonomous aerial vehicles,closed loop systems,control system synthesis,particle filtering (numerical methods),position control,robot dynamics,robot vision,state estimation,state feedback,trajectory control,variable structure systems,GPS denied environments,PD like approaches,Quadrotors,attitude control,closed-loop control algorithms,closed-loop system,control strategy design,dynamical behavior,emulated environment,emulation-based implementation architecture,model-free control law,noninertial robot tracking,noninertial systems,numerical emulation,numerical simulation test bench,portable particle filter,position control,real-time analysis,safety test-bench,second order differentiator,second order sliding mode,speed measurements,state feedback estimation,state variables,time derivatives,trajectory tracking,virtual real-time test,visual control,visual information
Test bench,Control theory,Computer science,Simulation,Differentiator,Attitude control,Control engineering,Emulation,State variable,Robot,Visual control,Trajectory
Conference
ISSN
ISBN
Citations 
0743-1619
978-1-4799-0177-7
0
PageRank 
References 
Authors
0.34
9
6
Name
Order
Citations
PageRank
Romo-Morales, L.100.34
Anand Sanchez2336.24
Vicente Parra-Vega318033.57
Octavio Garcia4124.26
Francisco Ruiz-Sanchez583.30
Parra-Vega, V.631.84