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]
Non-Asymptotic estimation for online systems [NON-A]
Deformable Robots Simulation Team [DEFROST ]
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

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 >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL