Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking

(1) , (1) , (1) , (2)
1
2

Résumé

Adaptive control algorithms are of interest in flight control systems design not only for their capability to improve performance and reliability but also for handling aerodynamic parameter uncertainties, external disturbances and modeling inaccuracies. In this paper, a direct adaptive sliding mode control is developed for the quadrotor attitude stabilization and altitude trajectory tracking. First, developed controller is applied without considering disturbances and parameter uncertainties. After, a centered white gaussian noise with some parameter uncertainties are added to the considered output vector, mass and inertia matrix, respectively. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Numerical simulations are performed showing the robustness of the proposed control technique.
Fichier principal
Vignette du fichier
Bouadi_CINTI2011_2.pdf (369.31 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00938518 , version 1 (29-04-2014)

Identifiants

Citer

Hakim Bouadi, Sebastião Simoes Cunha, Antoine Drouin, Felix Mora-Camino. Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking. CINTI 2011, IEEE 12th International Symposium on Computational Intelligence and Informatics, Nov 2011, Budapest, Hungary. pp 449 - 455, ⟨10.1109/CINTI.2011.6108547⟩. ⟨hal-00938518⟩
236 Consultations
3404 Téléchargements

Altmetric

Partager

Gmail Facebook Twitter LinkedIn More