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Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking

Abstract : 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.
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Submitted on : Tuesday, April 29, 2014 - 4:48:39 PM
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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⟩



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