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Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

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Chapter 4

Delay Signals & Predictors*

Abstract

Predictive algorithms have been seen as theoretical contributions without possible real-time validation for several years due to their difficult implementation in real systems. Delays are present when working with aerial drones due to different sampling periods coming from sensor measurements and/or when computing the control schemes. These delays sometimes are big enough, and the system could become unstable. In this chapter, two schemes based on predictors are proposed and validated in real time. The first improves the attitude of a VTOL aircraft while the second compensates delays in the control input. Results are illustrated with some graphs showing good performance of the closed-loop system. ...

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