شماره ركورد كنفرانس :
4193
عنوان مقاله :
Cooperative Backstepping Control of Quadrotors via Sliding Mode Observer
پديدآورندگان :
Ehyaei Amir Farhad f.ehyaei@eng.ikiu.ac.ir Department of Electrical Engineering at Imam Khomeini International University,Qazvin,Iran; , Aryankia Kiarash aryankia@alum.sharif.edu Department of Electrical Engineering at Sharif University of Technology,Tehran,Iran;
كليدواژه :
Backstepping control , Sliding mode observer , Quadrotor , Unmanned Ariel Vehicle
عنوان كنفرانس :
نهمين كنفرانس فرماندهي و كنترل ايران
چكيده فارسي :
This paper is mainly about backstepping control by running parallel sliding mode observer for a quadrotor Unmanned Ariel Vehicle. This sliding mode observer is filtered by a low pass filter to improve the performance of the observer. Forasmuch as filtering sliding mode outputs eliminates stimulated discontinuity of the sign function of observer, smooth results achieved. This observer will estimate the disturbances and observe the velocities (𝑥̇,𝑦̇,𝑧̇,𝜙̇,𝜃̇,𝜓̇) of the quadrotor. The controller is intended to reach desired position (𝑥,𝑦,𝑧) and yaw angle (𝜓) while tilt angles (𝜙,𝜃) restrains stable and velocities are engaged by bounded external disturbances; however, whole system remains stable. In addition to verifying efficiency of the method, simulation results show the good performances of tracking and robustness of the studied observer-controller.