Variable Structure-Model Reference Adaptive Control for Stabilization the Attitude of UAV

Ali, Zain Anwar; Pandey, Sujeet

doi:10.14257/ijca.2017.10.10.04

Cited by 1 publication

(1 citation statement)

References 19 publications

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“…In [23], the visual servoing control is considered for an underactuated rotorcraft UAV to regulate its translational motion and heading orientation. Besides, variable structure control is also robust to the disturbances and is applied to the UAV system, as discussed in [24][25][26]. Most research considers the state feedback design, and it is assumed that the states can be obtained from the sensor.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Visual Servoing for Obstacle Avoidance of Micro Unmanned Aerial Vehicle with Optical Flow and Switched System Model

et al. 2021

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A vision-based adaptive switching controller that uses optical flow information to avoid obstacles for micro unmanned aerial vehicles (MUAV) is proposed in this paper. To use the optical flow to indicate the distance between the MUAV and the environment, we propose an algorithm with multi-thread processing such that the optical flow information is obtained reliably and continuously in the entire camera field of view. The flying behavior of considered MUAV is regarded as a switching system when considering different flying modes during the mission of obstacle avoidance. By the required flight direction for obstacle avoidance specified by the detected optical flow, an adaptive control scheme is designed to track the required trajectory in switching modes. The simulation result shows the tracking performances of the adaptive control with the switching system. The experiment of the whole system is completed to verify the obstacle avoidance capability of our system.

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Section: Introductionmentioning

confidence: 99%