Robust control with sliding mode for a quadrotor unmanned aerial vehicle

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...

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Bibliographic Details
Main Authors: Khelfi, Mohamed Faycal, Kacimi, Abderrahmane
Format: Conference Proceeding
Language:English
Subjects:
Equations
Feedback linearization
matching and unmatching uncertainties
Mathematical model
Matrices
MIMO
Nonlinear systems
Sliding control
Uncertainty
Unmanned aerial vehicles
Vectors
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Summary: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.
ISSN:2163-5137
DOI:10.1109/ISIE.2012.6237206