A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect
Abstract
:1. Introduction
2. Related Work
3. Methods and Materials
3.1. Multirotor Dynamics
3.2. Altitude Control
3.3. Metric Monocular SLAM
3.4. Fault-tolerant Control
3.5. Equipment
4. Results and Discussion
4.1. Altitude Sensor Faults
4.2. Simulation
4.3. Experiments
5. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
List of Symbols
x, y, z | Position in the world-fixed frame |
, , | Roll, pitch, and yaw angles |
Velocity of the z axis | |
m | Mass of the multirotor |
g | Gravitational acceleration |
, , | Diagonal elements of the inertia matrix |
Thrust force | |
, , | Input torques |
, | Control inputs of acceleration and velocity |
, | Position and velocity references of the z axis |
, | Position and velocity errors of the z axis |
, | Parameters of the external controller |
, , | Parameter of the internal controller |
h | Height above ground of the camera |
Angle of the camera | |
f | Focal length of the camera |
l | Vector from the camera’s optical center through a pixel to the ground |
n | Vector perpendicular to the ground from the camera’s optical center to the ground |
d | Distance at which l intersects the ground |
Sensor fault | |
, | Range-based and vision-based measurements of the altitude |
Inertial-based measurement | |
r | Residual vector |
Residual evaluation function | |
, | Fault detection threshold and logical variable |
, | Sampling periods of the external and internal loops |
, | Control input of velocity in normal case and fault case |
Additive control term | |
Control gain (for positive and negative disturbances) of FTC 1 | |
c, C | Composite disturbance term and its bound |
s, | Sliding surface and its parameter |
Sliding mode control gain of FTC 2 |
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PD | FTC 1 | FTC 2 | |
---|---|---|---|
RMSE | 0.0214 | 0.0172 | 0.0155 |
RMSE | Test 1 | Test 2 | Test 3 | Test 4 | Test 5 | Average |
---|---|---|---|---|---|---|
PD | 0.0492 | 0.0591 | 0.0479 | 0.0460 | 0.0549 | 0.0514 |
FTC 1 | 0.0266 | 0.0304 | 0.0249 | 0.0317 | 0.0247 | 0.0277 |
FTC 2 | 0.0215 | 0.0576 | 0.0579 | 0.0417 | 0.0582 | 0.0474 |
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Matus-Vargas, A.; Rodriguez-Gomez, G.; Martinez-Carranza, J. A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect. Sensors 2019, 19, 4948. https://doi.org/10.3390/s19224948
Matus-Vargas A, Rodriguez-Gomez G, Martinez-Carranza J. A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect. Sensors. 2019; 19(22):4948. https://doi.org/10.3390/s19224948
Chicago/Turabian StyleMatus-Vargas, Antonio, Gustavo Rodriguez-Gomez, and Jose Martinez-Carranza. 2019. "A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect" Sensors 19, no. 22: 4948. https://doi.org/10.3390/s19224948
APA StyleMatus-Vargas, A., Rodriguez-Gomez, G., & Martinez-Carranza, J. (2019). A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect. Sensors, 19(22), 4948. https://doi.org/10.3390/s19224948