Skip to Main content Skip to Navigation
Conference papers

On sliding mode control design for UAV using realistic aerodynamic coefficients

Gabriele Perozzi 1 Denis Efimov 2 Jean-Marc Biannic 3 Laurent Planckaert 1 Patricia Coton 1
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : The goal of this paper is to design a control of mini quadrotor under wind perturbations. Taking into account a detailed unmanned aerial vehicle (UAV) model, the aim is to find a sliding mode control law minimizing the impact of the wind field on UAV dynamics. For this purpose an aerodynamic modelization of external disturbance is introduced. After that, upper bounds of these disturbances are computed. Lastly, the sliding mode altitude and attitude controls are designed. 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 results of numeric experiments demonstrate the effectiveness of the obtained controls, and the comparisons with a conventional first order sliding mode control, having the function sign proportional to a constant gain, and a recent quasi-continuous sliding mode control are also given.
Document type :
Conference papers
Complete list of metadatas

Cited literature [19 references]  Display  Hide  Download

https://hal.inria.fr/hal-01612008
Contributor : Denis Efimov <>
Submitted on : Friday, October 6, 2017 - 1:35:18 PM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM
Long-term archiving on: : Monday, January 8, 2018 - 2:38:21 PM

File

CDC17_0488_FI.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01612008, version 1

Citation

Gabriele Perozzi, Denis Efimov, Jean-Marc Biannic, Laurent Planckaert, Patricia Coton. On sliding mode control design for UAV using realistic aerodynamic coefficients. 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia. ⟨hal-01612008⟩

Share

Metrics

Record views

638

Files downloads

1094