Techno-Sciences Inc. Robotics Seminar Series: Rogelio Lozano
Friday, January 28, 2011
1146 A.V. Williams Building
301 405 7011
Techno-Sciences Inc. Robotics Seminar Series
Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers Using Visual Feedback
| View the video online |
Université de Technologie de Compiègne
In this seminar we begin by presenting an overview of the current research on quadrotors. We also present a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes. The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor when using visual feedback. We propose a method to measure translational speed as well as the UAV 3D position in a local frame. The selected controllers were implemented and tested in real-time experiments. The obtained results demonstrate the performance of such methodologies applied to the quad-rotor system.
Rogelio Lozano was born in Monterrey Mexico, on July 12, 1954. He received the B.S. degree in electronic engineering from the National Polytechnic Institute of Mexico in 1975, the M.S. degree in electrical engineering from Centro de Investigación y de Estudios Avanzados (CINVESTAV), Mexico in 1977, and the Ph.D. degree in automatic control from Laboratoire d'Automatique de Grenoble, France, in 1981. He joined the Department of Electrical Engineering at CINVESTAV, Mexico, in 1981 where he worked until 1989. He was Head of the Section of Automatic Control from June 1985 to August 1987. He has held visiting positions at the University of Newcastle, Australia, from November 1983 to November 1984, NASA Langley Research Center VA, from August 1987 to August 1988, and Laboratoire d'Automatique de Grenoble, France, from February 1989 to July 1990. Since 1990 he is a CNRS Research Director at University of Technology of Compiègne, France. He was promoted to 1st class CNRS Research Director in 1997. He is head of the Laboratory Heudiasyc, UMR 6599 CNRS-UTC since January 1995. He was Associate Editor of Automatica in the period 1987-2000 and of Int. J. of Adaptive Control and Signal Processing since 1993. His research interests are in adaptive control of linear, nonlinear systems, robot manipulators, passive systems, teleoperation and unmanned aerial vehicles (UAV).