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    Rights statement: This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, 10, 2022 DOI: 10.1016/j.ifacol.2022.10.110

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A Nonlinear Discrete-Time Sliding Mode Controller for Autonomous Navigation of an Aerial Vehicle Using Hector SLAM

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<mark>Journal publication date</mark>31/12/2022
<mark>Journal</mark>IFAC-PapersOnLine
Issue number10
Volume55
Number of pages6
Pages (from-to)2653–2658
Publication StatusPublished
Early online date26/10/22
<mark>Original language</mark>English
Event10th IFAC Conference on Manufacturing Modelling, Management and Control - Cité des congrès de Nantes, Nantes, France
Duration: 22/06/202224/06/2022
https://hub.imt-atlantique.fr/mim2022/

Conference

Conference10th IFAC Conference on Manufacturing Modelling, Management and Control
Abbreviated titleIFAC MIM 2022
Country/TerritoryFrance
CityNantes
Period22/06/2224/06/22
Internet address

Abstract

In this paper, a discrete-time sliding mode controller (DTSMC) is designed for full position and attitude control of a quadrotor UAV. The aim of this study is to design a controller suitable for practical implementation on an autonomous quadrotor for remote sensing in hostile nuclear environments. A nested DTSMC is developed and compared against two continuous-time sliding mode control methods; classical SMC, as well as a chattering-free SMC (CFSMC), studied in the previous works. The performance of the controllers is evaluated in combination with the Hector SLAM algorithm for localisation in GPS-denied environments. For this purpose, MATLAB in combination with the Robotic Operating System (ROS) is used to develop the controllers. Control signals are sent from MATLAB to the Gazebo simulation environment in ROS, which simulates the quadrotor and runs the Hector SLAM algorithm.

Bibliographic note

This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, 10, 2022 DOI: 10.1016/j.ifacol.2022.10.110