AR drone identification and navigation control at CVG-UPM

Pestana Puerta, Jesús and Sánchez López, José Luis and Mellado Bataller, Ignacio and Fu, Changhong and Campoy Cervera, Pascual (2012). AR drone identification and navigation control at CVG-UPM. In: "XXXIII Jornadas de Automática CEA-IFAC", 05/09/2012 - 07/09/2012, Vigo, España. pp..

Description

Title: AR drone identification and navigation control at CVG-UPM
Author/s:
  • Pestana Puerta, Jesús
  • Sánchez López, José Luis
  • Mellado Bataller, Ignacio
  • Fu, Changhong
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: XXXIII Jornadas de Automática CEA-IFAC
Event Dates: 05/09/2012 - 07/09/2012
Event Location: Vigo, España
Title of Book: XXXIII Jornadas de Automática CEA-IFAC
Date: 2012
Subjects:
Freetext Keywords: Multirotor UAV control, control engineering, system identification
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This article presents the proposal of the Computer Vision Group to the first phase of the international competition “Concurso de Ingeniería de Control 2012, Control Aut ́onomo del seguimiento de trayectorias de un vehículo cuatrirrotor”. This phase consists mainly of two parts: identifying a model and designing a trajectory controller for the AR Drone quadrotor. For the identification task, two models are proposed: a simplified model that captures only the main dynamics of the quadrotor, and a second model based on the physical laws underlying the AR Drone behavior. The trajectory controller design is based on the simplified model, whereas the physical model is used to tune the controller to attain a certain level of robust stability to model uncertainties. The controller design is simplified by the hypothesis that accurate positions sensors will be available to implement a feedback controller.

More information

Item ID: 19384
DC Identifier: http://oa.upm.es/19384/
OAI Identifier: oai:oa.upm.es:19384
Official URL: http://ja2012.uvigo.es/
Deposited by: Memoria Investigacion
Deposited on: 21 Dec 2013 12:06
Last Modified: 21 Apr 2016 17:38
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