Output feedback control of Micro Aerial Vehicle in indoor environment

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A novel approach for control of a Micro Air Vehicle in indoor environment (specifically within corridors) using only vision and angular velocity sensors as measuring devices is presented. The suggested controller does not include explicit attitude feedback, thus eliminating the need for accelerometers which are susceptible to vibrations, and complex attitude estimation algorithms. Furthermore, linear velocity measurement which can be difficult to achieve in indoor environment is not required to damp the system. A model for the hovercraft and visual measurements is presented, and stability analysis of the suggested controller is performed and supported by a complete six degrees of freedom simulation.

Original languageEnglish
Title of host publication2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings
EditorsVictor Munoz, Joseba Quevedo, Jorge L. Martinez, Jesus Morales
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages688-694
Number of pages7
ISBN (Electronic)9781479999361
DOIs
StatePublished - 14 Jul 2015
Event23rd Mediterranean Conference on Control and Automation, MED 2015 - Torremolinos, Spain
Duration: 16 Jun 201519 Jun 2015

Publication series

Name2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings

Conference

Conference23rd Mediterranean Conference on Control and Automation, MED 2015
Country/TerritorySpain
CityTorremolinos
Period16/06/1519/06/15

Keywords

  • Corridor Flight
  • Indoor Flight
  • MAV
  • Visual Servoing

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

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