Robust Attitude Control for Quadrotors with External Disturbances

Nemati, H.; Naghash, A.; Mozafari, S.; Jamei, A.

Abstract

This study investigates a design procedure for a robust nonlinear control algorithm based on sliding mode control (SMC) to stabilize the attitude of a 3-DOF quadrotor UAV subject to external disturbances. Since traditional sliding mode controllers are sensitive against external disturbances in the reaching phase, a new algorithm is proposed to enhance the robust performance of an SMC strategy. Dynamic equations are obtained using Newton-Euler formalism and the quadrotor's centre of mass is assumed not to be coincident at the origin of body frame. The robust stability and the robust tracking property are achieved using the Lyapunov's direct method. Experimental results are given to highlight the effectiveness of the designed control strategy.

Citation

Nemati, H., Naghash, A., Mozafari, S., & Jamei, A. (in press). Robust Attitude Control for Quadrotors with External Disturbances

• Conference Name: International Micro Air Vehicle Conference and Flight Competition 2017
• Conference Location: Toulouse, France
• Start Date: Sep 18, 2017
• End Date: Sep 22, 2017
• Acceptance Date: Sep 19, 2017
• Deposit Date: Apr 21, 2020
• Public URL: https://uwe-repository.worktribe.com/output/5883420
• Publisher URL: http://www.imavs.org/category/proceedings/