Bounded UDE-based control for a SLAM equipped quadrotor with input constraints

Yafeng Wang, Yeqin Wang, Yiting Dong, Beibei Ren

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Simultaneous Localization and Mapping (SLAM) system equipped quadrotors are preferable candidates for autonomous building inspections and surveillance tasks, because of their mobility and capability of working in both indoor and outdoor environments. However, the lack of robustness still remains as one of the challenging problems of SLAM implementations. Sudden camera moving, motion blur, occlusion all might cause a pose lost and map corruption. This problem becomes significant when the SLAM system is mounted on a quadrotor, since the high agility of the quadrotor might lead to a wide camera motion. Therefore, a control strategy that can constrain the quadrotor motion angles is proposed in this paper. A bounded design is embedded into the existing uncertainty and disturbance estimator (UDE) control framework, which can regulate the motion angles, e.g., roll and pitch angles of the quadrotor, always within predefined appropriate ranges. The proposed control strategy eliminates the sudden camera motion and provides a suitable platform for SLAM. Finally, experimental studies are provided for validation.

Original languageEnglish
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3117-3122
Number of pages6
ISBN (Electronic)9781538679265
DOIs
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period07/10/1907/12/19

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