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
Contributeur : Gabriele Perozzi <>
Soumis le : mercredi 4 avril 2018 - 11:23:41
Dernière modification le : jeudi 15 novembre 2018 - 08:39:01

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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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