Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors

Boussad Abci 1 Gang Zheng 2, 3 Denis Efimov 2 Maan El Badaoui El Najjar 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
3 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : 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.
Type de document :
Communication dans un congrès
IFAC World Congress, Jul 2017, Toulouse, France
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https://hal.inria.fr/hal-01660112
Contributeur : Gang Zheng <>
Soumis le : dimanche 10 décembre 2017 - 00:18:24
Dernière modification le : mercredi 4 juillet 2018 - 17:36:13

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  • HAL Id : hal-01660112, version 1

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Boussad Abci, Gang Zheng, Denis Efimov, Maan El Badaoui El Najjar. Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors. IFAC World Congress, Jul 2017, Toulouse, France. 〈hal-01660112〉

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