Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion (original) (raw)

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Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control based on disturbance observer (SMDO) to track the reference trajectory together with a nonlinear H∞ controller to stabilize the rotational movements. Simulation results in the presence of aerodynamic disturbances and parametric uncertainties are presented to corroborate the effectiveness and the robustness of the proposed strategy.

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Streamlined Rotors Mini Rotorcraft : Trajectory Generation and Tracking

2005

We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned areal vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system

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Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion (original) (raw)

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