On sliding mode control design for UAV using realistic aerodynamic coefficients

Gabriele Perozzi (1) , Denis Efimov (2) , Jean-Marc Biannic (3) , Laurent Planckaert (1) , Patricia Coton (1)

1 ONERA - The French Aerospace Lab [Lille]
2 NON-A - Non-Asymptotic estimation for online systems
3 ONERA - The French Aerospace Lab [Toulouse]

The goal of this paper is to design a control of mini quadrotor under wind perturbations. Taking into account a detailed unmanned aerial vehicle (UAV) model, the aim is to find a sliding mode control law minimizing the impact of the wind field on UAV dynamics. For this purpose an aerodynamic modelization of external disturbance is introduced. After that, upper bounds of these disturbances are computed. Lastly, the sliding mode altitude and attitude controls are designed. The peculiarity of the considered case is that the disturbance upper bounds depend on the control amplitude itself (i.e. the system is nonlinear in control), which leads to a new procedure for the control tuning presented in the paper. The results of numeric experiments demonstrate the effectiveness of the obtained controls, and the comparisons with a conventional first order sliding mode control, having the function sign proportional to a constant gain, and a recent quasi-continuous sliding mode control are also given.

Domaines: Automatique / Robotique

Gabriele Perozzi, Denis Efimov, Jean-Marc Biannic, Laurent Planckaert, Patricia Coton. On sliding mode control design for UAV using realistic aerodynamic coefficients. 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia. ⟨hal-01612008⟩