Robust control with sliding mode for a quadrotor unmanned aerial vehicle

Author

Khelfi, Mohamed Faycal ; Kacimi, Abderrahmane

Author_Institution

RIIR Lab., Univ. of Oran, Oran, Algeria

fYear

2012

fDate

28-31 May 2012

Firstpage

886

Lastpage

892

Abstract

A robust control approach denoted sliding control of MIMO nonlinear system based on the output feedback linearization is developed to attenuate the parametric uncertainties. The scheme is dedicated to model of unmanned aerial vehicles (the quadrotor UAV). We assume that the model of the plant is not precise, due to nondeterministic knowledge of inertias parameters. Tracking control is used to stabilize the equilibrium of the system, while all the state supposed to be measurable. The analysis is based on tracking errors during transients and at the steady state, on performance, stability and robustness with respect to plant uncertainties. Simulation results are carried out.

Keywords

MIMO systems; autonomous aerial vehicles; feedback; mobile robots; nonlinear control systems; robust control; stability; telerobotics; tracking; variable structure systems; MIMO nonlinear system; inertias parameters; nondeterministic knowledge; output feedback linearization; parametric uncertainties; quadrotor UAV; quadrotor unmanned aerial vehicle; robust control; sliding mode control; system equilibrium stabilization; tracking control; tracking errors; Equations; MIMO; Mathematical model; Matrices; Nonlinear systems; Uncertainty; Vectors; Feedback linearization; Sliding control; Unmanned aerial vehicles; matching and unmatching uncertainties;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics (ISIE), 2012 IEEE International Symposium on

Conference_Location

Hangzhou

ISSN

2163-5137

Print_ISBN

978-1-4673-0159-6

Electronic_ISBN

2163-5137

Type

conf

DOI

10.1109/ISIE.2012.6237206

Filename

6237206