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Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique

Author

Listed:
  • José Trinidad Guillén-Bonilla
  • Claudia Carolina Vaca García
  • Stefano Di Gennaro
  • María Eugenia Sánchez Morales
  • Cuauhtémoc Acosta Lúa

Abstract

This paper presents a controller designed via the backstepping technique, for the tracking of a reference trajectory obtained via the photogrammetric technique. The dynamic equations used to represent the motion of the quadrotor helicopter are based on the Newton–Euler model. The resulting quadrotor model has been divided into four subsystems for the altitude, longitudinal, lateral, and yaw motions. A control input is designed for each subsystem. Furthermore, the photogrammetric technique has been used to obtain the reference trajectory to be tracked. The performance and effectiveness of the proposed nonlinear controllers have been tested via numerical simulations using the Pixhawk Pilot Support Package developed for Matlab/Simulink.

Suggested Citation

  • José Trinidad Guillén-Bonilla & Claudia Carolina Vaca García & Stefano Di Gennaro & María Eugenia Sánchez Morales & Cuauhtémoc Acosta Lúa, 2020. "Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-10, November.
    • Handle: RePEc:hin:jnlmpe:5146291
    DOI: 10.1155/2020/5146291
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    Cited by:

    1. Luis Felipe Muñoz Mendoza & Guillermo García-Torales & Cuauhtémoc Acosta Lúa & Stefano Di Gennaro & José Trinidad Guillen Bonilla, 2023. "Trajectories Generation for Unmanned Aerial Vehicles Based on Obstacle Avoidance Located by a Visual Sensing System," Mathematics, MDPI, vol. 11(6), pages 1-25, March.

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