1A2-C23 Sliding Mode Controller for Vision Based Autonomous Hovering of Quad-rotor MAV

概要

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We investigate the possibility of a sliding mode controller (SMC) for autonomous hovering of a quad-rotor Micro Aerial Vehicle (MAV) based on an on ground stereo vision system. The object tracking algorithm used here is running average background subtraction. Among the background subtraction algorithms for object tracking, running average is known to have the fastest processing speed and the lowest memory requirement. Stereo vision system is known to have a good performance in measuring the distance from camera to object without any information about the object geometry in advance. SMC is known to have advantage of insensitivity to the model errors, parametric uncertainties and other disturbances. The experiment on autonomous hovering by using running average method for object tracking and SMC for the flight control shows a reliable result.