Titre :

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

Auteur(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]

Titre de la revue :

Journal of The Franklin Institute

Éditeur :

Elsevier

Date de publication :

2018

ISSN :

0016-0032

Mot(s)-clé(s) en anglais :

Sliding mode control
Wind rejection
Aerodynamic coefficients
Quadrotor modeling

Discipline(s) HAL :

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

Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >

Langue :

Anglais

Vulgarisation :

Oui

Collections :

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

Source :

Harvested from HAL