Exact linearization and sliding mode observer for a quadrotor unmanned aerial vehicle

Authors:
A. Mokhtari;A. Benallegue;Y. Orlov
Affiliations:
University of Science and Technology Oran, Algeria;Laboratoire de Robotique de Versailles, Velizy, France;Mexican Scientific Research and Advanced Studies Center of Ensenada
Venue:
International Journal of Robotics and Automation
Year:
2006

Citing 1
Cited 2

Sliding Mode Control in Engineering

Sliding Mode Control in Engineering

Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics

Journal of Intelligent and Robotic Systems
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter

Automatica (Journal of IFAC)

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Abstract

In this paper, a feedback linearization-based controller with a sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. An adaptive estimator is added to the overall system to estimate the effect of external disturbances such as wind. The whole observer-estimator-control law constitutes an original approach to vehicle regulation with minimal number of sensors. Performance issues of the controller are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances as well as measurement noise.