Journal of Robotics and Mechatronics
Online ISSN : 1883-8049
Print ISSN : 0915-3942
ISSN-L : 0915-3942
Special Issue on Autonomous Flying Robot
Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter
Reesa AkbarBambang SumantriHitoshi KatayamaShigenori SanoNaoki Uchiyama
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JOURNAL OPEN ACCESS

2016 Volume 28 Issue 3 Pages 304-313

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Abstract

The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified experimentally when compared to a conventional backward-difference method.

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© 2016 Fuji Technology Press Ltd.

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