Output Feedback Sliding Mode Control of Quadcopter Using IMU Navigation

Nemati, Hamidreza; Montazeri, Allahyar

Abstract

The main focus of this paper is to design various nonlinear sliding mode output feedback control approaches for attitude stabilisation of a quadcopter UAV using only IMU navigation sensor. Three types of controllers are considered based on asymptotical, finite-time and fast finite-time stability as conventional, terminal and fast terminal sliding mode controllers, respectively. Furthermore, two types of perturbations are applied to the plant as internal and external disturbances. Measurement noises in sensors are selected as internal disturbances, and sensor biases and wind gust are chosen as external ones. Since the uncertainties in orthogonal rate gyroscopes can be categorised into mismatched ones, extended Kalman filter is utilised. In addition, the performance of the closed-loop system is tested in the presence of uncertain Kalman gain in an unknown harsh environment. Finally, simulation results are presented to validate the analysis.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2019 IEEE International Conference on Mechatronics (ICM)
• Start Date: Mar 18, 2019
• End Date: Mar 20, 2019
• Acceptance Date: Mar 1, 2019
• Online Publication Date: May 27, 2019
• Publication Date: Mar 18, 2019
• Deposit Date: Apr 21, 2020
• Pages: 634-639
• ISBN: 9781538669594
• DOI: https://doi.org/10.1109/icmech.2019.8722899
• Keywords: Noise measurement , Robot sensing systems , Uncertainty , Sliding mode control , Gyroscopes , Kalman filters
• Public URL: https://uwe-repository.worktribe.com/output/5881062