Robust Altitude and Attitude Sliding Mode ...
Document type :
Communication dans un congrès avec actes
Title :
Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors
Author(s) :
Abci, Boussad [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Zheng, Gang [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Non-Asymptotic estimation for online systems [NON-A]
Efimov, Denis [Auteur]
Non-Asymptotic estimation for online systems [NON-A]
El Badaoui El Najjar, Maan [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Zheng, Gang [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Non-Asymptotic estimation for online systems [NON-A]
Efimov, Denis [Auteur]
Non-Asymptotic estimation for online systems [NON-A]
El Badaoui El Najjar, Maan [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Conference title :
IFAC World Congress
City :
Toulouse
Country :
France
Start date of the conference :
2017-07-10
English keyword(s) :
Sliding-mode control
robustness
stability analysis
Lyapunov stability
quadrotors
Newton-Euler equations
robustness
stability analysis
Lyapunov stability
quadrotors
Newton-Euler equations
HAL domain(s) :
Informatique [cs]/Automatique
English abstract : [en]
This paper considers the problem of attitude and altitude control of quadrotors using the sliding mode control theory. The mathematical model of the quadrotor is derived using the Euler-Newton formalism with extended ...
Show more >This paper considers the problem of attitude and altitude control of quadrotors using the sliding mode control theory. The mathematical model of the quadrotor is derived using the Euler-Newton formalism with extended assumptions on disturbing aerodynamical forces (not necessary uniformly bounded). The proposed control demonstrates an enhanced robustness against such disturbances. The comparison between the classical controller and the proposed one is demonstrated analytically, through Lyapunov theory, and in simulations to validate the proposed sliding mode control algorithm.Show less >
Show more >This paper considers the problem of attitude and altitude control of quadrotors using the sliding mode control theory. The mathematical model of the quadrotor is derived using the Euler-Newton formalism with extended assumptions on disturbing aerodynamical forces (not necessary uniformly bounded). The proposed control demonstrates an enhanced robustness against such disturbances. The comparison between the classical controller and the proposed one is demonstrated analytically, through Lyapunov theory, and in simulations to validate the proposed sliding mode control algorithm.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
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