Proportional Derivative Control with Inverse Dead-Zone for Pendulum Systems

A proportional derivative controller with inverse dead-zone is proposed for the control of pendulum systems. The proposed method has the characteristic that the inverse dead-zone is cancelled with the pendulum dead-zone. Asymptotic stability of the proposed technique is guaranteed by the Lyapunov analysis. Simulations of two pendulum systems show the effectiveness of the proposed technique

Modeling and control of a convertible airplane

International audienceThis paper presents the mathematical model of a fixed wing mini-UAV (Unmanned Aerial Vehicle). The mini-UAV is not a tail-sitter configuration and takes-off with the fuselage at the horizontal position. An experimental prototype driven by four brushless motors has been built including the onboard avionics. The applied control law is based on separated saturation functions algorithm. Numerical simulations have shown the satisfactory performance of the proposed control law in vertical take-off and hover. The prototype has also been tested experimentally in hover only and the control strategy has achieved that orientation angles have been regulated close to the origin

Stereo vision for the stabilization of a quadrotor

International audienceStereo vision is a broad field that is part of computer vision. Autonomous mobile robots make use of stereo vision to detect obstacles and measure their relative distance to them for path planning. Technically, it consists of the processing of two images simultaneously adquired by two cameras, from a given scene. Stereo vision is a field with multiple applications and many resources had been invested for research in this subject. In this paper, we present a stereo vision based controller design and its implementation on a mini helicopter with 4 rotors known as quadrotor. The dynamic model is obtained using the well known Euler-Lagrange approach. Experiment results show good performance of the proposed controller using "real-time" optical flow and image processing from two cameras

Vision based stabilization of a quadrotor using nested saturation control approach

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