Paper Info
Title
PID switching control for a highway estimation and tracking applied on a convertible mini-UAV
Abstract
This paper reports current work on development and navigation control of an experimental prototype of a new tilt-rotor convertible aircraft (Quad-plane Mini Unmanned Aerial Vehicle). The goal of the work consists of estimating and tracking a road using a vision system, without any previous knowledge of the road, as well as developing an efficient controller for treat with situations when the road is not detected by the vision sensor. For dealing with this situation, we propose a switching control strategy applied in two operational regions: road detected and no road detected. The exponential stability is proved for the subsystem formed by the lateral position taking into account the switching boundaries between the operational regions. The control law is validated in the proposed platform, showing the expected behavior during autonomous navigation.
Year
DOI
Venue
2012
10.1109/CDC.2012.6425834
Decision and Control
Keywords
Field
DocType
asymptotic stability,autonomous aerial vehicles,image sensors,object detection,object tracking,path planning,roads,robot vision,rotors,three-term control,time-varying systems,PID switching control,autonomous navigation,convertible miniUAV,exponential stability,highway estimation,highway tracking,navigation control,no road detected region,quad-plane miniunmanned aerial vehicle,road detected region,tilt-rotor convertible aircraft,vision sensor,vision system
Motion planning,Object detection,Control theory,Machine vision,Image sensor,PID controller,Control theory,Computer science,Control engineering,Exponential stability,Video tracking
Conference
ISSN
ISBN
Citations 
0743-1546 E-ISBN : 978-1-4673-2064-1
978-1-4673-2064-1
4
PageRank 
References 
Authors
0.57
5
4
Name
Order
Citations
PageRank
Gerardo Ramon Flores140.57
Luis Rodolfo García Carrillo2114.74
Guillaume Sanahuja340.57
Rogelio Lozano4255.22