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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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




    Publication date :

    2023-09-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moiré Patterns

    Tournier, Glenn / Valenti, Mario / How, Jonathan et al. | AIAA | 2006


    Embedded control using monocular vision: Face tracking

    Flores-Delgado, J. I. / Martinez-Santos, L. G. / Lozano, R. et al. | IEEE | 2017


    Quadrotor's trajectory tracking control using monocular vision navigation

    Mercado, D. A. / Castillo, P. / Lozano, R. | IEEE | 2015


    AIAA-2006-6711 Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moire Patterns

    Tournier, G. / Valenti, M. / How, J. et al. | British Library Conference Proceedings | 2006


    Vision Real-Time Simulation Training Platform for Quadrotor

    Li, Jiaxuan / Zhang, Naizong / Liu, Tianxin et al. | Springer Verlag | 2024