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Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements

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Abstract

This paper presents a predictor-based method for the control of quad-rotor with delayed measurements obtained from a GPS or vision system. A predictor design based in Taylor series with integral remainder is presented. The closed-loop scheme is validated by simulations and by real-time experiments on a quad-rotor platform.

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Authors and Affiliations

  1. Centro de Investigación y de Estudios Avanzados del I.P.N. México, Av. I.P.N. 2508, Col. San Pedro Zacatenco, México D.F., 07360, México

    Jairo Ordaz, Sergio Salazar & Sabine Mondié

  2. ICBI-AACyE, UAEH, Carr. a Tulancingo Km. 4.5, Cd. Universitaria, 42184, Mineral de la Reforma, Hidalgo, México

    Hugo Romero

  3. Laboratoire Franco-Mexicain d’Informatique et Automatique, LAFMIA UMI 3175 CNRS-CINVESTAV, Av. I.P.N. 2508, Col. San Pedro Zacatenco, México D.F., México

    Rogelio Lozano

Authors
  1. Jairo Ordaz
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  2. Sergio Salazar
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  3. Sabine Mondié
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  4. Hugo Romero
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  5. Rogelio Lozano
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Corresponding author

Correspondence to Jairo Ordaz.

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Ordaz, J., Salazar, S., Mondié, S. et al. Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements. J Intell Robot Syst 70, 13–26 (2013). https://doi.org/10.1007/s10846-012-9714-5

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  • DOI: https://doi.org/10.1007/s10846-012-9714-5

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