Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H∞

Authors

1 Isfahan University of Technology

2 University of Tabriz

Abstract

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control based on disturbance observer (SMDO) to track the reference trajectory together with a nonlinear H∞ controller to stabilize the rotational movements. Simulation results in the presence of aerodynamic disturbances and parametric uncertainties are presented to corroborate the effectiveness and the robustness of the proposed strategy.

Keywords


P. Castillo, R. Lozano, A. Dzul, Modelling and control of mini-flying machines, SpringerVerlag, 2005.

A. Benallegue, A. Mokhtari , L. Fridman, Feedback Linearization and High Order Sliding Mode Observer For A Quadrotor UAV, Proceedings of the 2006 International Workshop on Variable Structure Systems, Italy , 2006

L. Besnard, Y. Shtessel, B. Landrum, Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer, Journal of the Franklin Institute (349), (2012), 658–684.

A. Mokhtari, A. Benallegue, B. Daachi, Robust feedback linearization and GH∞ controller for a quadrotor unmanned aerial vehicle, Journal of Electrical Engineering (57), (2006), 20–27 .

V. Guilherme, G Ortega. Manuel, R. Rubio. Francisco, Backstepping /Nonlinear H∞ Control for Path Tracking of a QuadRotor Unmanned Aerial Vehicle, American Control Conference, Washington, USA , 2008.

J. Pedersen, M. Petersen, Control of Nonlinear Plants Volume I., MS Thesis Mathematical Institute and Institute of Automation Technical University of Denmark, 1995

R. Olfati-Saber, Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles, Phd thesis, MIT, 2001.

A. Gessow, G.C. Myers, Aerodynamics of the Heilcopter, 3 nd Ed, College Park Press, College Park, MD, 1999.

P. Castillo, R. Lozano, A. E. Dzul. Modeling and Control of Mini-fiying Machines, SpringerVerlag, New York , 2005.

P. McKerrow, Modelling the Draganflyer four-rotor helicopter, Proceedings of the IEEE International Conference on Robotics and Automation, USA, 2004.

C. Edwards, S. Spurgeon, Sliding Mode Control: Theory And Applications, Taylor & Francis Ltd, 1998.

J. K. Carl, K. Seiichi, Disturbance Observer and Feedforward Design for a high speed DirectDrive Positioning Table, IEEE Transactions on control system technology 7 (5) (1999) 513-527.

A. Isidori, Nonlinear Control Systems, 3 nd Ed, Springer-Verlag, London, 1995.

A. Van der Schaft, , L2-gain analysis of nonlinear systems and nonlinear state feedback control, Transactions on Automatic Control 37 (6), (1992), 770-784.

A. Isidori, H∞ control via measurement feedback for affine nonlinear systems, International Journal of Robust and Nonlinear Control 4 (1994), 553-574.

W. Kang, P. K. De, A. Isidori, Flight control in a windshear via nonlinear H∞ methods, Proceedings of IEEE Control and Decision Conference (1992), 1 135-1142.

S. Bouabdallah, M. Becker, R. Siegwart, Autonomous Miniature Flying Robots: Coming Soon!, Robotics and Automation Magazine, (2006).