Control of a quadrotor helicopter using visual feedback
Date
2002
Authors
Altug, Erdinc
Ostrowski, James
Mahony, Robert
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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 backstepping controllers. Finally, we present initial flight experiments where the helicopter is restricted to vertical and yaw motions.
Description
Keywords
Keywords: Cameras; Computer simulation; Estimation; Feedback control; Flight dynamics; Helicopters; Linearization; Mathematical models; Nonlinear control systems; Position control; Sensors; Backstepping controllers; Feedback linearizing controllers; Quadrotor helic
Citation
Collections
Source
Proceedings of the 2002 IEEE International Conference on Robotics and Automation
Type
Conference paper