{"title":"具有人体检测和自动跟踪功能的手势驱动四旋翼机反步积分控制器的实现","authors":"Ramamoorthy Luxman, Xiao Liu","doi":"10.1109/CSCESM.2015.7331881","DOIUrl":null,"url":null,"abstract":"This work demonstrates building an ETH's back-stepping integral controller based quad-copter, and is driven by human gestures. A novel application of computer vision is introduced for easy operation of quad-copters. Furthermore a method for detecting and auto follow of human is devised in the quad-copter. The design and modeling have been successfully realized on the 450mm sized X-configured quad-copter built during this project. This paper also demonstrates a MATLAB framework, to simulate and analyze the performance of a quad-rotor designed with back-stepping integral controller. It gives a synopsis of the controller used in ETH OS4 quad-rotor and presents an easy to use GUI to tune the controller while designing the quad-rotor.","PeriodicalId":232149,"journal":{"name":"2015 Second International Conference on Computer Science, Computer Engineering, and Social Media (CSCESM)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Implementation of back-stepping integral controller for a gesture driven quad-copter with human detection and auto follow feature\",\"authors\":\"Ramamoorthy Luxman, Xiao Liu\",\"doi\":\"10.1109/CSCESM.2015.7331881\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This work demonstrates building an ETH's back-stepping integral controller based quad-copter, and is driven by human gestures. A novel application of computer vision is introduced for easy operation of quad-copters. Furthermore a method for detecting and auto follow of human is devised in the quad-copter. The design and modeling have been successfully realized on the 450mm sized X-configured quad-copter built during this project. This paper also demonstrates a MATLAB framework, to simulate and analyze the performance of a quad-rotor designed with back-stepping integral controller. It gives a synopsis of the controller used in ETH OS4 quad-rotor and presents an easy to use GUI to tune the controller while designing the quad-rotor.\",\"PeriodicalId\":232149,\"journal\":{\"name\":\"2015 Second International Conference on Computer Science, Computer Engineering, and Social Media (CSCESM)\",\"volume\":\"12 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-11-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 Second International Conference on Computer Science, Computer Engineering, and Social Media (CSCESM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CSCESM.2015.7331881\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 Second International Conference on Computer Science, Computer Engineering, and Social Media (CSCESM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CSCESM.2015.7331881","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Implementation of back-stepping integral controller for a gesture driven quad-copter with human detection and auto follow feature
This work demonstrates building an ETH's back-stepping integral controller based quad-copter, and is driven by human gestures. A novel application of computer vision is introduced for easy operation of quad-copters. Furthermore a method for detecting and auto follow of human is devised in the quad-copter. The design and modeling have been successfully realized on the 450mm sized X-configured quad-copter built during this project. This paper also demonstrates a MATLAB framework, to simulate and analyze the performance of a quad-rotor designed with back-stepping integral controller. It gives a synopsis of the controller used in ETH OS4 quad-rotor and presents an easy to use GUI to tune the controller while designing the quad-rotor.
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