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FULL MODELLING AND SLIDING MODE CONTROL FOR A QUADROTOR UAV IN VISUAL SERVOING TASK

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Academic year: 2021

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Figure

Figure 1: Mechanical structure of the Quadrotor.
Figure 2: Control strategy of SMC using IBVS for Quadrotor state error to track the desired propelling forces
Figure 4: Virtual camera frame evolution in IBVS gener- gener-ation trajectories without Quadrotor
Figure 5: Time evolution of reference trajectories, out- out-puts issue from sensors and model outout-puts in x,y and z directions 0 10 20 30 40 50 60-0.6-0.4-0.200.2 0 10 20 30 40 50 60-0.4-0.200.20.4 0 10 20 30 40 50 60-0.500.51
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