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Rondon E.,Compiègne University of Technology | Salazar S.,Laboratoire Franco Mexicain dInformatique et Automatique | Escareno J.,Laboratoire Franco Mexicain dInformatique et Automatique | Lozano R.,Compiègne University of Technology
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2010

In this paper we address the stabilization of the attitude and position of a birotor miniUAV to perform autonomous flight. For this purpose, we have implemented a Kalman-based sensor fusion between inertial sensors (gyros-accelerometers) and the optical flow (OF) provided by the vehicle. This fusion algorithm extracts the translational-OF (TOF) component and discriminates the rotational OF (ROF). The aircraft's position is obtained through an object detection algorithm (centroid tracking). Newton-Euler motion equations were used to deduce the mathematical model of the vehicle. In terms of control we have employed a saturated-based control to stabilize the state of the aircraft around the origin. Experimental autonomous flight was successfully achieved, which validates the sensing strategy as well as the embedded control law. © 2009 Springer Science+Business Media B.V.


Maalouf D.,Montpellier University | Creuze V.,Montpellier University | Chemori A.,Montpellier University | Tamanaja I.T.,Laboratoire Franco Mexicain dInformatique et Automatique | And 4 more authors.
International Journal of Advanced Robotic Systems | Year: 2015

This paper deals with an experimental comparison between the proportional integral derivative (PID) control law and the adaptive nonlinear state feedback control, both applied on the AC-ROV underwater vehicle. The experimental results evaluate the closed-loop behaviour of the system under each controller in various operating conditions in order to compare how robust they are towards parameters' change and how they can reject external disturbances. It was concluded that the adaptive controller ensures a faster convergence and can adapt to a change of parameters as well as compensate for external disturbances. The PID needs to be retuned for every parameter change and is more sensitive to external disturbances. © 2015 The Author(s). Licensee InTech.

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