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Optimization of the control effort for quadrotors using a varying-gain quasi-continuous sliding mode control influenced by a wind estimator

Abstract : The problem of position tracking of a mini drone subjected to wind perturbations is investigated. Using the real-time on-board wind estimation and adapting properly the control gains, the quadrotor can follow a reference trajectory ensuring an optimal control effort on the rotors and a good robustness against the wind perturbations. In this way, control gains are modified in real-time according to the requested trajectory and to the requested disturbance compensation. The analysis process is explained using a toolbox, implementing the control and wind estimation algorithms and the fully configurable quadrotor model. Final simulations conclude the note, enlightening the importance of including wind estimates in the control algorithm.
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https://hal.inria.fr/hal-01758112
Contributor : Gabriele Perozzi <>
Submitted on : Wednesday, April 4, 2018 - 11:23:41 AM
Last modification on : Tuesday, March 16, 2021 - 3:44:03 PM

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  • HAL Id : hal-01758112, version 1

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Gabriele Perozzi. Optimization of the control effort for quadrotors using a varying-gain quasi-continuous sliding mode control influenced by a wind estimator. 2018. ⟨hal-01758112⟩

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