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Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers using Visual Feedback

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3 Author(s)
Carrillo, L.R.G. ; CINVESTAV, Mexico City, Mexico ; Dzul, A. ; Lozano, R.

This article presents a comparison of three control techniques: nested saturations, backstepping, and sliding modes. The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor unmanned aerial vehicle (UAV) when using visual feedback. We propose a vision-based method to measure translational speed as well as the UAV 3D position in a local frame. The three selected controllers were implemented and tested in real-time experiments. The obtained results demonstrate the performance of such methodologies applied to the quad-rotor system.

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Aerospace and Electronic Systems, IEEE Transactions on  (Volume:48 ,  Issue: 4 )