Comparison of lateral controllers for following linear structures using computer vision

被引：4

作者：

Frew, Eric W. ^{[1
]}

机构：

[1] Univ Colorado, Dept Aerosp Engn Sci, Boulder, CO 80309 USA

来源：

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷

关键词：

D O I：

10.1109/ACC.2006.1656538

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a comparison of lateral controllers for vision-based control of a small autonomous aircraft following a road. Control strategies are designed to stabilize the aircraft lateral control using only the vision measurements and inertial sensors. Methods compared here include several aim-ahead controllers, sliding surface controllers, linear quadratic Gaussian (LQG) regulators, and a receding horizon controller (RHC). Simulation results are given comparing the controllers under ideal conditions as well as with background wind, a zero-roll, assumption in the vision system, and realistic quantization of the control output by the low-level flight control system.

引用

页码：2154 / 2159

页数：6

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