TY - JOUR
T1 - Control of a quadrotor helicopter using visual feedback
AU - Altuğ, Erdinç
AU - Ostrowski, James P.
AU - Mahony, Robert
PY - 2002
Y1 - 2002
N2 - We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose (position and orientation) of the helicopter. Two methods of control are studied - one using a series of mode-based, feedback linearizing controllers, and the other using a backstepping-like control law. Various simulations of the model demonstrate the implementation of feedback linearization and the backstepping controllers. Finally, we present initial flight experiments where the helicopter is restricted to vertical and yaw motions.
AB - We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose (position and orientation) of the helicopter. Two methods of control are studied - one using a series of mode-based, feedback linearizing controllers, and the other using a backstepping-like control law. Various simulations of the model demonstrate the implementation of feedback linearization and the backstepping controllers. Finally, we present initial flight experiments where the helicopter is restricted to vertical and yaw motions.
UR - http://www.scopus.com/inward/record.url?scp=0036057849&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2002.1013341
DO - 10.1109/ROBOT.2002.1013341
M3 - Article
AN - SCOPUS:0036057849
SN - 1050-4729
VL - 1
SP - 72
EP - 77
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
ER -