Authors:
Mouloud Bouchoucha
;
Abdessamed Boudane
;
Kamel Ali
and
Sofiane Seghour
Affiliation:
Ecole Militaire Polytechnique(EMP), Algeria
Keyword(s):
dsPIC, Dynamic Modeling, Embedded Control System, IMU, Integral Sliding Mode, Quadrotor, Second Order Sliding Mode, Super- Twisting , UAV, C.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Real-Time Systems Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vehicle Control Applications
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.