Integral Sliding Mode and Second Order Sliding Mode Attitude and Altitude Tracking of a Quadrotor System - Theory and Experiment

Mouloud Bouchoucha, Abdessamed Boudane, Kamel Ali, Sofiane Seghour

Abstract

In this paper Attitude and Altitude tracking control design of the four rotors helicopter will be considered. Two robust control algorithms will be designed for the case of stabilization and tacking of attitude and altitude system’s outputs. The attitude controller is realized using an inertial measurement unit (IMU) based on MEMS sensors. The altitude control algorithm uses a sonar sensor output. The control algorithms designed are implemented on an embedded control system based on a dsPIC C. The obtained experimental results demonstrate high performance of both controllers and robustness against disturbances.

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Paper Citation


in Harvard Style

Bouchoucha M., Boudane A., Ali K. and Seghour S. (2012). Integral Sliding Mode and Second Order Sliding Mode Attitude and Altitude Tracking of a Quadrotor System - Theory and Experiment . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 266-273. DOI: 10.5220/0004038002660273


in Bibtex Style

@conference{icinco12,
author={Mouloud Bouchoucha and Abdessamed Boudane and Kamel Ali and Sofiane Seghour},
title={Integral Sliding Mode and Second Order Sliding Mode Attitude and Altitude Tracking of a Quadrotor System - Theory and Experiment},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={266-273},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004038002660273},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Integral Sliding Mode and Second Order Sliding Mode Attitude and Altitude Tracking of a Quadrotor System - Theory and Experiment
SN - 978-989-8565-22-8
AU - Bouchoucha M.
AU - Boudane A.
AU - Ali K.
AU - Seghour S.
PY - 2012
SP - 266
EP - 273
DO - 10.5220/0004038002660273