Abstract
This paper proposes a nonlinear control architecture for the stabilization of a quadrotor vehicle based on image measurements of a set of landmarks obtained from a pan and tilt camera. The vehicle is stabilized vertically using an additional vertical position sensor and lateral-longitudinal stabilization is achieved with a nested saturation control law by feedback of image measurements, body attitude, and angular rate. Additionally, the pan and tilt camera is actively actuated to to keep the landmarks visible in the image sensor for most operating conditions. Simulation results are presented to assess the performance of the proposed control architecture.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
