Titre :

Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors

Auteur(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]

Titre de la manifestation scientifique :

IFAC World Congress

Ville :

Toulouse

Pays :

France

Date de début de la manifestation scientifique :

2017-07-10

Mot(s)-clé(s) en anglais :

Sliding-mode control
robustness
stability analysis
Lyapunov stability
quadrotors
Newton-Euler equations

Discipline(s) HAL :

Informatique [cs]/Automatique

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

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

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

Source :

Harvested from HAL