Tracking a Ground Moving Target with a Quadrotor Using Switching Control

Nonlinear Modeling and Control
  • J. E. Gomez-Balderas
  • G. Flores
  • L. R. García Carrillo
  • R. Lozano


An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed.


Switching controllers Tracking Control strategy 


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  • J. E. Gomez-Balderas
    • 1
  • G. Flores
    • 1
  • L. R. García Carrillo
    • 2
  • R. Lozano
    • 1
  1. 1.Heudiasyc UMR 7253Université de Technologie de CompiegneCompiegneFrance
  2. 2.Department of Electrical and Computer EngineeringUniversity of CaliforniaSanta BarbaraUSA

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