LiDAR-Based Control of Autonomous Rotorcraft for Inspection of Pole-Shaped Structures

  • Bruno J. Guerreiro
  • Carlos Silvestre
  • Rita Cunha
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 417)


This paper addresses the problem of trajectory tracking control of autonomous rotorcraft relative to pole-shaped structures using LiDAR sensors. The proposed approach defines an alternative kinematic model, directly based on LiDAR measurements, and uses a trajectory-dependent error space to express the dynamic model of the vehicle. An LPV representation with piecewise affine dependence on the parameters is adopted to describe the error dynamics over a set of predefined operating regions. The synthesis problem is stated as a continuous-time \(\mathcal {H}_2\) control problem, solved using LMIs and implemented within the scope of gain-scheduling control theory. The performance of the proposed control method is validated with comprehensive simulation results.


Trajectory tracking Sensor-based control LiDAR UAV 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Bruno J. Guerreiro
    • 1
    • 3
  • Carlos Silvestre
    • 1
    • 2
  • Rita Cunha
    • 3
  1. 1.Department of Electrical and Computer Engineering, Faculty of Science and TechnologyUniversity of MacauTaipaMacau, China
  2. 2.Instituto Superior TécnicoUniversidade de LisboaLisboaPortugal
  3. 3.Institute for Systems and Robotics, Instituto Superior TécnicoUniversidade de LisboaLisboaPortugal

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