Stability Analysis of a Vision-Based UAV Controller

Authors:
A. Ramírez;E. S. Espinoza;L. R. García Carrillo;S. Mondié;A. García;R. Lozano
Affiliations:
Department of Automatic Control, CINVESTAV - IPN, Mexico D.F., Mexico;Laboratorio de Investigación en Robótica y Electrónica Avanzada, Polytechnic University of Pachuca, Hidalgo, Mexico;College of Science & Engineering, Texas A&M University - Corpus Christi, Corpus Christi, USA;Department of Automatic Control, CINVESTAV - IPN, Mexico D.F., Mexico;Laboratorio de Investigación en Robótica y Electrónica Avanzada, Polytechnic University of Pachuca, Hidalgo, Mexico;Laboratoire Heudiasyc, University of Technology of Compiègne, Compiègne, France and The French - Mexican Laboratory on Computer Science and Control LAFMIA-UMI CNRS 3175, CINVESTAV - IPN, ...
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

The stability analysis of a vision-based control strategy for a quad rotorcraft UAV is addressed. In the present application, the imaging sensing system provides the required states for performing autonomous navigation missions, however, it introduces latencies and time-delays from the time of capture to the time when measurements are available. To overcome this issue, a hierarchical controller is designed considering a time-scale separation between fast and slow dynamics. The dynamics of the fast-time system are stabilized using classical proportional derivative controllers. Additionally, delay frequency and time domain techniques are explored to design a controller for the slow-time system. Simulations and experimental results consisting on a vision-based road following task are presented.