Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application

Walid Alqaisi; Brahim Brahmi; Jawhar Ghommam; Maarouf Saad; Vahe Nerguizian

doi:10.1109/CIVEMSA.2018.8439964

Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application

Walid Alqaisi
, Brahim Brahmi
, Jawhar Ghommam
, Maarouf Saad
, Vahe Nerguizian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, a stereo visual-based control is designed by using virtual image projection and actual depth calculation on a quadrotor system. Super-twisting nonlinear control is supported with time delay disturbance estimation algorithm to estimate disturbance and to drive the system to track the desired trajectory. This proposed super-twisting algorithm ensures the finite time convergence of the system states to the selected sliding surface. The stability analysis of the control is confirmed in the closed loop. The effectiveness of the proposed system is shown by carrying out simulation, using real quadrotor parameters.

Original language	English
Title of host publication	CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781538646182
DOIs	https://doi.org/10.1109/CIVEMSA.2018.8439964
State	Published - 17 Aug 2018
Externally published	Yes
Event	23rd Annual IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2018 - Ottawa, Canada Duration: 12 Jun 2018 → 13 Jun 2018

Publication series

Name	CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings

Conference

Conference	23rd Annual IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2018
Country/Territory	Canada
City	Ottawa
Period	12/06/18 → 13/06/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Image based Control
Quadrotor
Stereo imaging
Supertwisting
UAV
Virtual imaging

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Media Technology
Instrumentation

Access to Document

10.1109/CIVEMSA.2018.8439964

Cite this

Alqaisi, W., Brahmi, B., Ghommam, J., Saad, M., & Nerguizian, V. (2018). Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application. In CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings Article 8439964 (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIVEMSA.2018.8439964

Alqaisi, Walid ; Brahmi, Brahim ; Ghommam, Jawhar et al. / Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application. CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings).

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title = "Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application",

abstract = "In this paper, a stereo visual-based control is designed by using virtual image projection and actual depth calculation on a quadrotor system. Super-twisting nonlinear control is supported with time delay disturbance estimation algorithm to estimate disturbance and to drive the system to track the desired trajectory. This proposed super-twisting algorithm ensures the finite time convergence of the system states to the selected sliding surface. The stability analysis of the control is confirmed in the closed loop. The effectiveness of the proposed system is shown by carrying out simulation, using real quadrotor parameters.",

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author = "Walid Alqaisi and Brahim Brahmi and Jawhar Ghommam and Maarouf Saad and Vahe Nerguizian",

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series = "CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings",

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Alqaisi, W, Brahmi, B, Ghommam, J, Saad, M & Nerguizian, V 2018, Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application. in CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings., 8439964, CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings, Institute of Electrical and Electronics Engineers Inc., 23rd Annual IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2018, Ottawa, Canada, 12/06/18. https://doi.org/10.1109/CIVEMSA.2018.8439964

Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application. / Alqaisi, Walid; Brahmi, Brahim; Ghommam, Jawhar et al.
CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. 8439964 (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Nerguizian, Vahe

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N2 - In this paper, a stereo visual-based control is designed by using virtual image projection and actual depth calculation on a quadrotor system. Super-twisting nonlinear control is supported with time delay disturbance estimation algorithm to estimate disturbance and to drive the system to track the desired trajectory. This proposed super-twisting algorithm ensures the finite time convergence of the system states to the selected sliding surface. The stability analysis of the control is confirmed in the closed loop. The effectiveness of the proposed system is shown by carrying out simulation, using real quadrotor parameters.

AB - In this paper, a stereo visual-based control is designed by using virtual image projection and actual depth calculation on a quadrotor system. Super-twisting nonlinear control is supported with time delay disturbance estimation algorithm to estimate disturbance and to drive the system to track the desired trajectory. This proposed super-twisting algorithm ensures the finite time convergence of the system states to the selected sliding surface. The stability analysis of the control is confirmed in the closed loop. The effectiveness of the proposed system is shown by carrying out simulation, using real quadrotor parameters.

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KW - Quadrotor

KW - Stereo imaging

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KW - UAV

KW - Virtual imaging

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Alqaisi W, Brahmi B, Ghommam J, Saad M, Nerguizian V. Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application. In CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8439964. (CIVEMSA 2018 - 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, Proceedings). doi: 10.1109/CIVEMSA.2018.8439964

Multivariable super-twisting control in a vision-based quadrotor utilized in agricultural application

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this