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http://dx.doi.org/10.5139/JKSAS.2012.40.2.118

Target Tracking Control of a Quadrotor UAV using Vision Sensor  

Yoo, Min-Goo (세종대학교 항공우주공학과 대학원)
Hong, Sung-Kyung (세종대학교 항공우주공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.40, no.2, 2012 , pp. 118-128 More about this Journal
Abstract
The goal of this paper is to design the target tracking controller for a quadrotor micro UAV using a vision sensor. First of all, the mathematical model of the quadrotor was estimated through the Prediction Error Method(PEM) using experimental input/output flight data, and then the estimated model was validated via the comparison with new experimental flight data. Next, the target tracking controller was designed using LQR(Linear Quadratic Regulator) method based on the estimated model. The relative distance between an object and the quadrotor was obtained by a vision sensor, and the altitude was obtained by a ultra sonic sensor. Finally, the performance of the designed target tracking controller was evaluated through flight tests.
Keywords
Quadrotor; Prediction Error Method(PEM); Target Tracking Control; Vision Sensor; LQR(Linear Quadratic Regulator);
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