Design of sliding mode observers for quadrotor pitch/roll angle estimation via IMU measurements

Abstract : This paper addresses the problem of quadrotor pitch/roll estimation when only IMU sensors are available. A Smooth Sliding Mode (SSM) algorithm is firstly considered to provide reliable estimation of pitch/roll angles under a smoothness disturbance assumption. The performance is compared to use a recently developed high-order sliding mode (HOSM) differentiator. In addition, the observer performance is discussed for the case where measurements are corrupted by bias and noise. Simulation results obtained on the nonlinear model of quadrotor illustrate the benefits of the proposed techniques
Keywords : sliding mode
Type de document :
Communication dans un congrès
Workshop on Research, Education and Development of Unmanned Aerial Systems, Nov 2015, Cancun, Mexico. 2015, 〈10.1109/RED-UAS.2015.7441032〉
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https://hal.archives-ouvertes.fr/hal-01250814
Contributeur : Jérome Cieslak <>
Soumis le : mardi 5 janvier 2016 - 12:47:05
Dernière modification le : jeudi 11 janvier 2018 - 06:21:09

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Jing Chang, Jérôme Cieslak, Ali Zolghadri, Jorge Davila, Jun Zhou. Design of sliding mode observers for quadrotor pitch/roll angle estimation via IMU measurements. Workshop on Research, Education and Development of Unmanned Aerial Systems, Nov 2015, Cancun, Mexico. 2015, 〈10.1109/RED-UAS.2015.7441032〉. 〈hal-01250814〉

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