Adaptive Second-order Sliding Mode Observer for Quadrotor Attitude Estimation

Abstract : The problem studied in this paper is that of quadrotor attitude estimation using an adaptive second-order sliding mode (SM) observer. The gains are dynamically adapted to the sliding motion to ensure the convergence of observer error to the sliding manifold in the finite time. Position measurements of quadrotor are used in this adaptive SM observer to provide the pitch and roll angle estimates that are robust to the accelerometer and/or gyroscope faults. In addition, the observer is extended for the case where position measurements are corrupted by bias and noise. Simulation results illustrate the benefits of the proposed techniques compared to kalman and complementary filter.
Type de document :
Communication dans un congrès
IEEE. American Control Conference, Jul 2016, Boston, United States. IEEE, 2016,
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https://hal.archives-ouvertes.fr/hal-01306935
Contributeur : Jérome Cieslak <>
Soumis le : lundi 25 avril 2016 - 20:28:45
Dernière modification le : jeudi 11 janvier 2018 - 06:21:09

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  • HAL Id : hal-01306935, version 1

Citation

Jing Chang, Jérome Cieslak, Jorge Davila, Ali Zolghadri, Jun Zhou. Adaptive Second-order Sliding Mode Observer for Quadrotor Attitude Estimation. IEEE. American Control Conference, Jul 2016, Boston, United States. IEEE, 2016, . 〈hal-01306935〉

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