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Stability Analysis of a Vision-Based UAV Controller

An Application to Autonomous Road Following Missions

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Abstract

The stability analysis of a vision-based control strategy for a quad rotorcraft UAV is addressed. In the present application, the imaging sensing system provides the required states for performing autonomous navigation missions, however, it introduces latencies and time-delays from the time of capture to the time when measurements are available. To overcome this issue, a hierarchical controller is designed considering a time-scale separation between fast and slow dynamics. The dynamics of the fast-time system are stabilized using classical proportional derivative controllers. Additionally, delay frequency and time domain techniques are explored to design a controller for the slow-time system. Simulations and experimental results consisting on a vision-based road following task are presented.

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Authors and Affiliations

  1. Department of Automatic Control, CINVESTAV - IPN, Mexico D.F., Mexico

    A. Ramírez & S. Mondié

  2. Laboratorio de Investigación en Robótica y Electrónica Avanzada, Polytechnic University of Pachuca, Hidalgo, Mexico

    E. S. Espinoza & A. García

  3. College of Science & Engineering, Texas A&M University - Corpus Christi, Corpus Christi, TX, USA

    L. R. García Carrillo

  4. Laboratoire Heudiasyc, University of Technology of Compiègne, Compiègne, France

    R. Lozano

  5. The French - Mexican Laboratory on Computer Science and Control LAFMIA-UMI CNRS 3175, CINVESTAV - IPN, Mexico D.F., Mexico

    R. Lozano

Authors
  1. A. Ramírez
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  2. E. S. Espinoza
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  3. L. R. García Carrillo
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  4. S. Mondié
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  5. A. García
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  6. R. Lozano
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Correspondence to E. S. Espinoza.

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Ramírez, A., Espinoza, E.S., García Carrillo, L.R. et al. Stability Analysis of a Vision-Based UAV Controller. J Intell Robot Syst 74, 69–84 (2014). https://doi.org/10.1007/s10846-013-9946-z

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  • DOI: https://doi.org/10.1007/s10846-013-9946-z

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