Control of a quadrotor helicopter using visual feedback
Altug, Erdinc; Ostrowski, James; Mahony, Robert
Description
We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose (position and orientation) of the helicopter. Two methods of control are studied - one using a series of mode-based, feedback linearizing controllers, and the other using a backstepping-like control law. Various simulations of the model demonstrate the implementation of feedback linearization and the...[Show more]
Collections | ANU Research Publications |
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Date published: | 2002 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/74541 |
Source: | Proceedings of the 2002 IEEE International Conference on Robotics and Automation |
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