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Conference papers

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
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
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.
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Conference papers
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https://hal.inria.fr/hal-01660112
Contributor : Gang Zheng <>
Submitted on : Sunday, December 10, 2017 - 12:18:24 AM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM

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  • HAL Id : hal-01660112, version 1

Citation

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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