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Robust Quadrotor Control: Attitude and Altitude Real-Time Results

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Abstract

This paper addresses the problem of designing and experimentally validating a nonlinear robust control to attitude and altitude of a quadrotor unmanned flying vehicle (UAV). First a disturbance observer is proposed, focus on the attitude regulation control problem of a quadrotor in presence of external disturbances based on the angular velocity measurements and the control inputs. The stability analysis of the nonlinear observer scheme is proven via the use of Lyapunov theory. Later, we focus on the altitude dynamics of a quadrotor in the presence of uncertainty like wind gust are presented. A sliding mode control was proposed, the gain of control can be decreased and, as a result, the chattering amplitude is reduced. The objective is to introduce an adaptation in the control law in order to decrease the gain to the minimal value preserving the sliding mode control and keeping his property of a finite-time convergence. Finally, simulation and experimental results in a quadrotor are presented to show the effectiveness of the proposed nonlinear algorithm in presence of external disturbances.

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Authors and Affiliations

  1. LAFMIA 3175 CNRS at CINVESTAV-IPN, UMI, Av. IPN, 2508 San Pedro Zacatenco, 07360, DF, México

    Ricardo López-Gutiérrez, Sergio Salazar, Ivan González-Hernández & Rogelio Lozano

  2. Tecnológico Nacional de México, Instituto Tecnológico de Culiácan, Juan de Dios, Guadalupe, 80220, Culiacán Rosales, Sinaloa, México

    Abraham Efraim Rodriguez-Mata

  3. Centre de Recherches de Royallieu, UTC-HEUDIASyC, Compiegne, 60205, France

    Rogelio Lozano

Authors
  1. Ricardo López-Gutiérrez
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  2. Abraham Efraim Rodriguez-Mata
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  3. Sergio Salazar
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  4. Ivan González-Hernández
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  5. Rogelio Lozano
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Corresponding author

Correspondence to Ricardo López-Gutiérrez.

Additional information

This work was supported by CONACyT, UMI-LAFMIA 3175 CNRS and CINVESTAV-IPN.

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López-Gutiérrez, R., Rodriguez-Mata, A.E., Salazar, S. et al. Robust Quadrotor Control: Attitude and Altitude Real-Time Results. J Intell Robot Syst 88, 299–312 (2017). https://doi.org/10.1007/s10846-017-0520-y

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  • DOI: https://doi.org/10.1007/s10846-017-0520-y

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