**Author details**

are shown in the **Figures 27–30**. The time for completion of the task from the point

In this work, a vision-based sliding mode control for autonomous landing of a quadrotor UAV is proposed. The vision algorithm is developed to detect the centroid, position and orientation of the camera with respect to a landing pad marker (ArUco marker) placed on the roof of a car. The designed sliding mode controller proves to be effective when working alongside the developed vision algorithm and is simulated using MATLAB environment. This is then on extended to the actual experimental tests on the DJI Matrice M100, in indoor and outdoor environments.

1. The designed controller ensures that all the state variables converge to their reference values, even if their reference values are subjected to sudden

2. The alignment of the drone over the landing pad marker is obtained by using the position and yaw offset values as inputs to the sliding mode controller.

3. The robustness of the designed controller is demonstrated among the various experimental trials in outdoor environments (subjected to winds), and the

All of the results presented above are quiet promising and can be reproduced in any quadrotor system. Reference [20] demonstrates the results of the proposed work. As a future addition to this work, readers can consider using EKF to infuse IMU data with vision to enhance the tracking data. In addition, the users can also improve the proposed SMC to incorporate power rate reaching laws or super twist-

effectiveness of the proposed control scheme is also justified.

of initialization was found to be 43 s.

*Unmanned Robotic Systems and Applications*

*Camera parameters (Outdoor Testing).*

The main conclusions are summarized as follows:

ing laws to attenuate chattering further.

**9. Conclusion**

**Figure 30.**

changes.

**58**

Archit Krishna Kamath, Vibhu Kumar Tripathi and Laxmidhar Behera\* Department of Electrical Engineering, Indian Institute of Technology, Kanpur, India

\*Address all correspondence to: lbehera@iitk.ac.in

© 2019 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
