Velocity Control of a Quad-Rotor UAV Fly-By-Camera Interface
ORCiD
Dongbin Lee: 0000-0002-5307-0374
Document Type
Conference Proceeding
Department
Electrical and Computer Engineering
Conference Title
Proceedings 2007 IEEE SoutheastCon
Location
Richmond, VA
Conference Dates
22-25 March 2007
Date of Presentation
3-1-2007
Abstract
A quad-rotor unmanned aerial vehicle (UAV) and a two-degree-of-freedom (DOF) camera unit are combined to achieve a fully-actuated fly-by-camera positioning system. The flight control interface allows the user to command motions in the camera frame of reference - a natural perspective for surveillance and inspection tasks. A nonlinear velocity controller, derived using Lyapunov stability arguments, produces simultaneous complementary motion of the quad-rotor vehicle and the camera positioning unit. The controller achieves globally uniform ultimate boundedness (GUUB) on all velocity error terms.
Publisher
IEEE
ISSN
1091-0050
DOI
10.1109/SECON.2007.342901
Recommended Citation
Lee, D.,
Neff, A. E.,
Chitrakaran, V. K.,
Dawson, D. M.,
&
Burg, T. C.
(2007).
Velocity Control of a Quad-Rotor UAV Fly-By-Camera Interface.
Paper presented at Proceedings 2007 IEEE SoutheastCon in Richmond, VA.
https://scholarlycommons.pacific.edu/soecs-facpres/631
