Model Reference Sliding Mode Control of Small Helicopter X.R.B based on Vision

[摘要] This paper presents autonomous control for indoor small helicopter X.R.B. In case of natural disaster like earthquake, a MAV (Micro Air Vehicle) which can fly autonomously will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. This paper describes vision based autonomous hovering control, guidance control for X.R.B by model reference sliding mode control.

[学科分类] 自动化工程

[关键词] MAV;Image processing;Hovering contorl;Guidance control;Model reference control;Sliding mode control