Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique
Joint Authors
Guillén-Bonilla, José Trinidad
Vaca García, Claudia Carolina
Di Gennaro, Stefano
Sánchez Morales, María Eugenia
Acosta Lúa, Cuauhtémoc
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-17
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper presents a controller designed via the backstepping technique, for the tracking of a reference trajectory obtained via the photogrammetric technique.
The dynamic equations used to represent the motion of the quadrotor helicopter are based on the Newton–Euler model.
The resulting quadrotor model has been divided into four subsystems for the altitude, longitudinal, lateral, and yaw motions.
A control input is designed for each subsystem.
Furthermore, the photogrammetric technique has been used to obtain the reference trajectory to be tracked.
The performance and effectiveness of the proposed nonlinear controllers have been tested via numerical simulations using the Pixhawk Pilot Support Package developed for Matlab/Simulink.
American Psychological Association (APA)
Guillén-Bonilla, José Trinidad& Vaca García, Claudia Carolina& Di Gennaro, Stefano& Sánchez Morales, María Eugenia& Acosta Lúa, Cuauhtémoc. 2020. Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1195716
Modern Language Association (MLA)
Guillén-Bonilla, José Trinidad…[et al.]. Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1195716
American Medical Association (AMA)
Guillén-Bonilla, José Trinidad& Vaca García, Claudia Carolina& Di Gennaro, Stefano& Sánchez Morales, María Eugenia& Acosta Lúa, Cuauhtémoc. Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1195716
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195716