Velocity Control of a Quad-Rotor UAV Fly-By-Camera Interface
Dongbin Lee: 0000-0002-5307-0374
Electrical and Computer Engineering
Proceedings 2007 IEEE SoutheastCon
22-25 March 2007
Date of Presentation
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.
Neff, A. E.,
Chitrakaran, V. K.,
Dawson, D. M.,
Burg, T. C.
Velocity Control of a Quad-Rotor UAV Fly-By-Camera Interface.
Paper presented at Proceedings 2007 IEEE SoutheastCon in Richmond, VA.