Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements

Authors:
Jairo Ordaz;Sergio Salazar;Sabine Mondié;Hugo Romero;Rogelio Lozano
Affiliations:
Centro de Investigación y de Estudios Avanzados del I.P.N. México, México D.F., México 07360;Centro de Investigación y de Estudios Avanzados del I.P.N. México, México D.F., México 07360;Centro de Investigación y de Estudios Avanzados del I.P.N. México, México D.F., México 07360;ICBI-AACyE, UAEH, Mineral de la Reforma, México 42184;Laboratoire Franco-Mexicain d'Informatique et Automatique, LAFMIA UMI 3175 CNRS-CINVESTAV, México D.F., México
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

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Abstract

This paper presents a predictor-based method for the control of quad-rotor with delayed measurements obtained from a GPS or vision system. A predictor design based in Taylor series with integral remainder is presented. The closed-loop scheme is validated by simulations and by real-time experiments on a quad-rotor platform.