Stability Analysis of a Vision-Based UAV Controller

Adrián Ramírez

doi:10.1007/s10846-013-9946-z

Stability Analysis of a Vision-Based UAV Controller

2013-10-02

11

PRE

AI

A

Adrián Ramírez

E

Eduardo S. Espinoza *

L

Luis Rodolfo García Carrillo

S

Sabine Mondié

A

Angie Yanixa Segura García

R

Rogelio Lozano

DOI：10.1007/s10846-013-9946-z

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Abstract

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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.

Keywords:

Vision-based control

UAV

Delay

Stability Analysis of a Vision-Based UAV Controller

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