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Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation

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Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation. / Nemati, Hamidreza; Montazeri, Allahyar.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. IEEE, 2019. p. 634-639 8722899.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Harvard

Nemati, H & Montazeri, A 2019, Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation. in Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019., 8722899, IEEE, pp. 634-639. https://doi.org/10.1109/ICMECH.2019.8722899

APA

Nemati, H., & Montazeri, A. (2019). Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 634-639). [8722899] IEEE. https://doi.org/10.1109/ICMECH.2019.8722899

Vancouver

Nemati H, Montazeri A. Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. IEEE. 2019. p. 634-639. 8722899 doi: 10.1109/ICMECH.2019.8722899

Author

Nemati, Hamidreza ; Montazeri, Allahyar. / Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation. Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. IEEE, 2019. pp. 634-639

Bibtex

@inproceedings{ecfad8ad2d3f4530a7bf2a221ab95004,
title = "Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation",
abstract = "The main focus of this paper is to design various nonlinear sliding mode output feedback control approaches for attitude stabilisation of a quadcopter UAV using only IMU navigation sensor. Three types of controllers are considered based on asymptotical, finite-time and fast finite-time stability as conventional, terminal and fast terminal sliding mode controllers, respectively. Furthermore, two types of perturbations are applied to the plant as internal and external disturbances. Measurement noises in sensors are selected as internal disturbances, and sensorbiases and wind gust are chosen as external ones. Since the uncertainties in orthogonal rate gyroscopes can be categorised into mismatched ones, extended Kalman filter is utilised. In addition, the performance of the closed-loop system is tested in the presence of uncertain Kalman gain in an unknown harsh environment. Finally, simulation results are presented to validate the analysis.",
author = "Hamidreza Nemati and Allahyar Montazeri",
year = "2019",
month = may,
day = "24",
doi = "10.1109/ICMECH.2019.8722899",
language = "English",
isbn = "9781538669594",
pages = "634--639",
booktitle = "Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019",
publisher = "IEEE",

}

RIS

TY - GEN

T1 - Output Feedback Sliding Mode Control of Quadcopter using IMU Navigation

AU - Nemati, Hamidreza

AU - Montazeri, Allahyar

PY - 2019/5/24

Y1 - 2019/5/24

N2 - The main focus of this paper is to design various nonlinear sliding mode output feedback control approaches for attitude stabilisation of a quadcopter UAV using only IMU navigation sensor. Three types of controllers are considered based on asymptotical, finite-time and fast finite-time stability as conventional, terminal and fast terminal sliding mode controllers, respectively. Furthermore, two types of perturbations are applied to the plant as internal and external disturbances. Measurement noises in sensors are selected as internal disturbances, and sensorbiases and wind gust are chosen as external ones. Since the uncertainties in orthogonal rate gyroscopes can be categorised into mismatched ones, extended Kalman filter is utilised. In addition, the performance of the closed-loop system is tested in the presence of uncertain Kalman gain in an unknown harsh environment. Finally, simulation results are presented to validate the analysis.

AB - The main focus of this paper is to design various nonlinear sliding mode output feedback control approaches for attitude stabilisation of a quadcopter UAV using only IMU navigation sensor. Three types of controllers are considered based on asymptotical, finite-time and fast finite-time stability as conventional, terminal and fast terminal sliding mode controllers, respectively. Furthermore, two types of perturbations are applied to the plant as internal and external disturbances. Measurement noises in sensors are selected as internal disturbances, and sensorbiases and wind gust are chosen as external ones. Since the uncertainties in orthogonal rate gyroscopes can be categorised into mismatched ones, extended Kalman filter is utilised. In addition, the performance of the closed-loop system is tested in the presence of uncertain Kalman gain in an unknown harsh environment. Finally, simulation results are presented to validate the analysis.

U2 - 10.1109/ICMECH.2019.8722899

DO - 10.1109/ICMECH.2019.8722899

M3 - Conference contribution/Paper

SN - 9781538669594

SN - 9781538669600

SP - 634

EP - 639

BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

PB - IEEE

ER -