Predictor-based position control of a quad-rotor with delays in GPS and vision measurements

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 70, Issue 1-4, 2013, Pages 13-26

  Ordaz, Jairo ^a   Salazar, Sergio ^a   Mondié, Sabine ^a   Romero, Hugo ^b   Lozano, Rogelio ^c  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

^b UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO   (Mexico)

^c Unite Mixte Internationale LAFMIA UMI 3175 CINVESTAV CNRS   (Mexico)

Author keywords

GPS; Quad rotor; State predictor; Vision

Indexed keywords

CLOSED-LOOP; DELAYED MEASUREMENTS; PREDICTOR DESIGN; QUAD-ROTOR; REAL-TIME EXPERIMENT; STATE PREDICTOR; VISION MEASUREMENT; VISION SYSTEMS;

GLOBAL POSITIONING SYSTEM; ROBOTICS; VISION;

COMPUTER VISION;

EID: 84871636639     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-012-9714-5     Document Type: Article

References (11)

1. Mazenc, F., Mondié, S., Niculescu, S.I.: Global asymptotic stabilization for chains of integrators with a delay in the input. IEEE Trans. Automat. Contr. 48(1), 57-63 (2003)
2. Smith, J.: Closer control of loops with dead time. Chem. Eng. Prog. 53(5), 217-219 (1957)
3. Krstic, M., Karafyllys, I.: Nonlinear stabilization under sampled and delayed measurements, and with inputs subject to delay and zero-order hold. IEEE Trans. Automat. Contr. 57(5), 1141-1154 (2012)
4. Krstic, M.: Delay Compensation for Nonlinear, Adaptive, and PDE Systems. Birkhauser Boston (2009)
5. Francisco, R., Mazenc, F., Mondié, S.: Global asymptotic stabilization of a PVTOL aircraft model with delay in the input. In: Applications of Time Delay Systems. Lecture Notes in Control and Information Sciences. Springer, Berlin/Heidelberg (2007)
6. Lozano, R., Castillo, P., Garcia, P., Dzul, A.: Robust prediction-based control for unstable delay systems: application to the yaw control of a mini-helicopter. Automatica 40(4), 603-612 (2004)
7. Etkin, B., Reid, L.D.: Dynamics of Flight Stability and Control. Wiley. ISBN:0-471-03418-5 (1996)
8. Lozano, R.: Unmanned Aerial Vehicles Embedded Control. Wiley. ISBN:978-1-84821-127-8 (2010)
9. Krstic, M.: Input delay compensation for forward complete and strict-feedforward nonlinear systems. IEEE Trans. Automat. Contr. 55(2), 287-303 (2010)
10. Romero, H., Benosman, R., Lozano, R.: Stabilization and location of a four rotor helicopter applying vision. In: Proc. Amer. Control Conference, ACC 2006, pp. 3930-3936. Minneapolis, MN (2006)
11. Romero, H., Salazar, S., Lozano, R.: Real-time stabilization of an Eight-Rotor UAV using optical flow. IEEE Trans. Robot. 25(4), 809-817 (2009)