The aim of this paper is to present two control logics and an attitude estimator for UAV stabilization and remote piloting, that are as robust as possible to physical parameters variation and to other external disturbances. Moreover, they need to be implemented on low-cost micro-controllers, in order to be attractive for commercial drones. As an example, possible applications of the two switching control logics could be area surveillance and facial recognition by means of a camera mounted on the drone: the high computational speed logic is used to reach the target, when the high-stability one is activated, in order to complete the recognition tasks.

A robust two-way switching control system for remote piloting and stabilization of low-cost quadrotor UAVs

RIPAMONTI, FRANCESCO;RESTA, FERRUCCIO;
2015-01-01

Abstract

The aim of this paper is to present two control logics and an attitude estimator for UAV stabilization and remote piloting, that are as robust as possible to physical parameters variation and to other external disturbances. Moreover, they need to be implemented on low-cost micro-controllers, in order to be attractive for commercial drones. As an example, possible applications of the two switching control logics could be area surveillance and facial recognition by means of a camera mounted on the drone: the high computational speed logic is used to reach the target, when the high-stability one is activated, in order to complete the recognition tasks.
2015
Proceedings of SPIE - The International Society for Optical Engineering
9781628415346
9781628415346
Attitude; EKF; Estimation; Quadrotor; Sliding mode; UAV; Applied Mathematics; Computer Science Applications1707 Computer Vision and Pattern Recognition; Electrical and Electronic Engineering; Electronic, Optical and Magnetic Materials; Condensed Matter Physics
File in questo prodotto:
File Dimensione Formato  
NDE2014_SSN03-63.pdf

Accesso riservato

: Publisher’s version
Dimensione 480.38 kB
Formato Adobe PDF
480.38 kB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1003137
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? 0
social impact