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In this paper, a robust altitude control scheme is proposed for a mini-Quadrotor UAV system based on sliding mode controller with an integral action to eliminate the steady-state error induced by the boundary layer in order to achieve asymptotic convergence to the desired altitude with continuous control input. The proposed integral sliding mode controller is chosen to ensure the stability and robustness...
The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters. The originality of this work relies on the nature of the disturbances acting on the helicopter and the way to compensate them. The disturbance consists in vertical wind gusts. Here, a 7DOF nonlinear Lagrangian model...
In order to estimate the approach angle and relative height of Unmanned Aircraft Vehicle (UAV) which lands autonomously, a combinational approach of monocular vision and stereo vision is presented. From monocular sequences, vanishing line is extracted by Hough transform and RANSAC algorithm, and then approach angle of UAV is calculated through vanishing line geometry. From stereo sequences, feature-based...
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