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Trajectory Tracking For A Quadrotor Under ...
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Document type :
Article dans une revue scientifique
DOI :
10.1016/j.jfranklin.2018.04.042
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 - UMR 9014 [LMFL]
Efimov, Denis [Auteur] refId
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 - UMR 9014 [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 ...
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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
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Oui
Collections :
  • Laboratoire de Mécanique des Fluides de Lille Kampé de Fériet (LMFL) - UMR 9014
Source :
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