Title :

Trajectory Tracking For A Quadrotor Under Wind Perturbations: Sliding Mode Control With State-Dependent Gains

Author(s) :

Perozzi, Gabriele [Auteur]
Laboratoire de Mécanique des Fluides de Lille - Kampé de Fériet [LMFL]
Efimov, Denis [Auteur]
Non-Asymptotic estimation for online systems [NON-A-POST]
Biannic, Jean-Marc [Auteur]
ONERA, Université de Toulouse [Toulouse]
Planckaert, Laurent [Auteur]
Laboratoire de Mécanique des Fluides de Lille - Kampé de Fériet [LMFL]

Journal title :

Journal of The Franklin Institute

Publisher :

Elsevier

Publication date :

2018

ISSN :

0016-0032

English keyword(s) :

Sliding mode control
Wind rejection
Aerodynamic coefficients
Quadrotor modeling

HAL domain(s) :

Informatique [cs]/Automatique
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]
Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

The problem of position tracking of a mini drone subject to wind perturbations is investigated. The solution is based on a detailed unmanned aerial vehicle (UAV) model, with aerodynamic coefficients and external disturbance ...
Show more >The problem of position tracking of a mini drone subject to wind perturbations is investigated. The solution is based on a detailed unmanned aerial vehicle (UAV) model, with aerodynamic coefficients and external disturbance components, which is introduced in order to better represent the impact of the wind field. Then, upper bounds of wind-induced disturbances are characterized, which allow a sliding mode control (SMC) technique to be applied with guaranteed convergence properties. The peculiarity of the considered case is that the disturbance upper bounds depend on the control amplitude itself (i.e. the system is nonlinear in control), which leads to a new procedure for the control tuning presented in the paper. The last part of the paper is dedicated to the analysis and reduction of chattering effects, as well as investigation of rotor dynamics issues. Conventional SMC with constant gains, proposed first order SMC, and proposed quasi-continuous SMC are compared. Nonlinear UAV simulator, validated through in-door experiments, is used to demonstrate the effectiveness of the proposed controls.Show less >

Language :

Anglais

Popular science :

Oui

Collections :

• Laboratoire de Mécanique des Fluides de Lille Kampé de Fériet (LMFL) - UMR 9014

Source :

Harvested from HAL