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

页码：2113 / 2120

页数：8

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