Output feedback control of Micro Aerial Vehicle in indoor environment

Abstract

A novel approach for control of a Micro Air Vehicle in indoor environment (specifically within corridors) using only vision and angular velocity sensors as measuring devices is presented. The suggested controller does not include explicit attitude feedback, thus eliminating the need for accelerometers which are susceptible to vibrations, and complex attitude estimation algorithms. Furthermore, linear velocity measurement which can be difficult to achieve in indoor environment is not required to damp the system. A model for the hovercraft and visual measurements is presented, and stability analysis of the suggested controller is performed and supported by a complete six degrees of freedom simulation.