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Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements

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Abstract

This paper presents a predictor-based method for the control of quad-rotor with delayed measurements obtained from a GPS or vision system. A predictor design based in Taylor series with integral remainder is presented. The closed-loop scheme is validated by simulations and by real-time experiments on a quad-rotor platform.

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Correspondence to Jairo Ordaz.

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Ordaz, J., Salazar, S., Mondié, S. et al. Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements. J Intell Robot Syst 70, 13–26 (2013). https://doi.org/10.1007/s10846-012-9714-5

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  • DOI: https://doi.org/10.1007/s10846-012-9714-5

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