Hovering quadrotor control: A nonlinear controllers comparison using visual feedback
Résumé
In this paper, we present a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes. The control objective consists to stabilize the position of a quadrotor by using visual feedback. Our interest is to obtain the better control strategy when we use visual feedback. We propose a method to measure translational speed as well as UAV X-Y-Z position in a local frame. The selected controllers where implemented and tested in real-time experiments. The obtained results demonstrate the performance of such methodologies applied to the quadrotor system.