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

  • Jairo Ordaz
  • Sergio Salazar
  • Sabine Mondié
  • Hugo Romero
  • Rogelio Lozano


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.


State predictor Quad-rotor GPS Vision 


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  • Jairo Ordaz
    • 1
  • Sergio Salazar
    • 1
  • Sabine Mondié
    • 1
  • Hugo Romero
    • 2
  • Rogelio Lozano
    • 3
  1. 1.Centro de Investigación y de Estudios Avanzados del I.P.N. MéxicoMéxico D.F.México
  2. 2.ICBI-AACyEUAEHMineral de la ReformaMéxico
  3. 3.Laboratoire Franco-Mexicain d’Informatique et Automatique, LAFMIA UMI 3175 CNRS-CINVESTAVMéxico D.F.México

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