Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench

An, Honglei; Li, Jie; Wang, Jian; Wang, Jianwen; Ma, Hongxu

doi:10.1155/2013/328974

Cited by 7 publications

(6 citation statements)

References 22 publications

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“…Aerodynamic effect dramatically increases with the variation from equilibrium state. Some literatures show excellent performance on a test bench [11]. Whereas, the attitude control result without the test bench is worse than the attitude control result on the test bench.…”

Section: Aerodynamic Effectmentioning

confidence: 98%

“…Nevertheless, only simulation results were displayed [8]. A variety of control 2 Mathematical Problems in Engineering algorithms have been attempted to handle the nonlinearity and coupling property, such as neural networks control [9], integral predictive/nonlinear ∞ control [10], sliding mode control [11,12], and fuzzy tracking control [13]. Although simulation results demonstrated effectiveness of those control algorithms, most of them were developed based on dynamic model without the actuator dynamic and aerodynamic effect.…”

Section: Introductionmentioning

confidence: 99%

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The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Zhang

et al. 2014

Mathematical Problems in Engineering

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A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU). The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

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Section: Aerodynamic Effectmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Zhang

et al. 2014

Mathematical Problems in Engineering

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“…Furthermore, for estimating different variables of UAVs, many types of observers have been used. An, Li, Wang, Wang and Ma (2013) worked to carry out a second order geometric sliding mode observer for altitude parameter but it didn't include any perturbation estimation. While Benallegue, Mokhtari and Fridman (2008) worked on a higher order sliding mode observer estimator considering external disturbances like wind and noise of sensors.…”

Section: Introductionmentioning

confidence: 99%

Controlling the Altitude Dynamics of Quadcopter using Robust Output Feedback Controller

Shaikh¹,

Nighat²,

Chowdhry³

2019

3C Tecnología

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This paper deals with observer based controlling and stabilization of the nonlinear dynamics of the quadcopter and in order to explore the complex dynamics of the quadcopter, the only altitude of the quadcopter is considered. A nonlinear model of the altitude is extracted from the six DOF model of the quadcopter and the same is linearized. A robust controller is implemented in the design to cater to the nonlinear nature of the quadcopter at hover by using both Sliding mode control and model predictive controller. The soft instrument, observer, is designed here for the state estimation purpose to bring the simulated system more closely to realistic values. Effectiveness of the designed system is ensured by trajectory tracking of the quadcopter. Simulation results presented show that output feedback based controller designed having optimum performance in estimating the states of the targeted system with almost negligible error. Also, the nonlinear controller designed having superior performance as compared to a controller designed with the linearized system.

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“…Research in this area was presented in [8], where a Second-Order Geometric Sliding Mode Attitude Observer (SOGSMAO) is designed for attitude estimation, but the perturbation is not estimated. Similarly, in [9] a high-order sliding mode observer works as an observer and estimator of the effect of the external disturbances such as wind and noise.…”

Section: Introductionmentioning

confidence: 99%

Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer

Muñoz

González-Hernández

Espinoza

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used to measure the altitude (Barometer and GPS) do not provide the altitude velocity. The proposed strategy was designed by using a Super-Twisting controller based on a High Order Sliding Mode Observer. A comprehensive stability analysis based on the Lyapunov Stability Theory guarantees the convergence of the tracking error in finite time. To demonstrate the performance of the proposed solution, a set of simulation results are presented.

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Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench

Cited by 7 publications

References 22 publications

The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Controlling the Altitude Dynamics of Quadcopter using Robust Output Feedback Controller

Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer

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