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.
Type de document :
Communication dans un congrès
56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia
Liste complète des métadonnées

Littérature citée [20 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01612008
Contributeur : Denis Efimov <>
Soumis le : vendredi 6 octobre 2017 - 13:35:18
Dernière modification le : jeudi 11 janvier 2018 - 06:27:32
Document(s) archivé(s) le : lundi 8 janvier 2018 - 14:38:21

Fichier

CDC17_0488_FI.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01612008, version 1

Collections

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〉

Partager

Métriques

Consultations de la notice

162

Téléchargements de fichiers

71