Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.

[1]  S. Sastry.  Nonlinear Systems: Analysis, Stability, and Control , 1999 .

[2]  Camillo J. Taylor,et al.  Quadrotor control using dual camera visual feedback , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Roland Siegwart,et al.  PID vs LQ control techniques applied to an indoor micro quadrotor , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[4]  Boubaker Daachi,et al.  ROBUST FEEDBACK LINEARIZATION AND GH∞ CONTROLLER FOR A QUADROTOR UNMANNED AERIAL VEHICLE , 2005 .

[5]  L. Fridman,et al.  Feedback linearization and high order sliding mode observer for a quadrotor UAV , 2006, International Workshop on Variable Structure Systems, 2006. VSS'06..

[6]  Ümit Özgüner,et al.  Sliding Mode Control of a Quadrotor Helicopter , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[7]  E. Altug,et al.  Modeling and PD Control of a Quadrotor VTOL Vehicle , 2007, 2007 IEEE Intelligent Vehicles Symposium.

[8]  R. Lozano,et al.  Simple Real-time Attitude Stabilization of a Quad-rotor Aircraft With Bounded Signals , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[9]  Abdelaziz Benallegue,et al.  Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  T. Madani,et al.  Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[11]  C.J.B. Macnab,et al.  A New Robust Adaptive-Fuzzy Control Method Applied to Quadrotor Helicopter Stabilization , 2006, NAFIPS 2006 - 2006 Annual Meeting of the North American Fuzzy Information Processing Society.

[12]  B. Landrum,et al.  Control of a Quadrotor Vehicle Using Sliding Mode Disturbance Observer , 2007, 2007 American Control Conference.

[13]  P. Ost.  Control of a Quadrotor Helicopter Using Visual Feedback , 2002 .

[14]  T. Madani,et al.  Backstepping Sliding Mode Control Applied to a Miniature Quadrotor Flying Robot , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[15]  B. Bluteau,et al.  Design and Control of an Outdoor Autonomous Quadrotor powered by a four strokes RC engine , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[16]  T. Hamel,et al.  Visual Tracking Control of Aerial Robotic Systems with Adaptive Depth Estimation , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[17]  Roland Siegwart,et al.  Design and control of an indoor micro quadrotor , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[18]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.