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

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 mathema...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering Journal of aerospace engineering, 2023-09, Vol.237 (12), p.2729-2741
Main Authors: Montoya-Morales, JR, Guerrero-Sánchez, ME, Valencia-Palomo, G, Hernández-González, O, López-Estrada, FR, Hoyo-Montaño, JA
Format: Article
Language:English
Subjects:
Algorithms
Mathematical models
Monocular vision
Real time
Robust control
Sliding mode control
Tracking control
Tracking problem
Unmanned aerial vehicles
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Summary: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.
ISSN:0954-4100
2041-3025
DOI:10.1177/09544100231158265