Real-time robust tracking control for a quadrotor using monocular vision-Reference-Cited by-同舟云学术

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

Published:2023-02-24 Issue:12 Volume:237 Page:2729-2741
ISSN:0954-4100
Container-title:Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering

Author:

Montoya-Morales JR¹,Guerrero-Sánchez ME²^ORCID,Valencia-Palomo G¹^ORCID,Hernández-González O²^ORCID,López-Estrada FR³^ORCID,Hoyo-Montaño JA¹^ORCID

Affiliation:

1. Tecnológico Nacional de México, IT Hermosillo, Hermosillo, Mexico

2. CONACYT/Tecnológico Nacional de México, IT Hermosillo, Hermosillo, Mexico

3. Tecnológico Nacional de México, IT Tuxtla Gutiérrez, Tuxtla Gutiérrez, Mexico

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.

Funder

TecnolÃ&z.hfl;Âgico Nacional de MÃ&z.hfl;Â©xico and CONACYT

Publisher

SAGE Publications

Subject

Mechanical Engineering,Aerospace Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/09544100231158265

Reference29 articles.

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