Sliding mode differentiator/observer for quadcopter velocity estimation through sensor fusion

被引：9
作者：
Boiko, Igor [1 ]
Chehadeh, Mohammad [1 ]
机构：
[1] Khalifa Univ Sci & Technol, Petr Inst, Dept Elect Engn, Abu Dhabi, U Arab Emirates
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2018年 / 91卷 / 09期
关键词：
Sliding mode; differentiator; observer; sensor fusion; quadcopter; quadrotor; STATE ESTIMATION; CONTROLLERS; OBSERVERS; ORDER;
D O I：
10.1080/00207179.2017.1421775
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method of fusion of the position sensor from the motion capture optical system and accelerometer to produce velocity signal of the quadcopter is proposed. Fusion is done through second-order and asymptotic second-order sliding mode control. A differentiator/observer for the vertical speed channel is presented. The results are illustrated by simulations and experiments.
引用
收藏
页码：2113 / 2120
页数：8
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