Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter

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  • Akbar Reesa
    Department of Mechanical Engineering, Toyohashi University of Technology Department of Electrical Engineering, Politeknik Elektronika Negeri Surabaya
  • Sumantri Bambang
    Department of Mechanical Engineering, Toyohashi University of Technology Department of Electrical Engineering, Politeknik Elektronika Negeri Surabaya
  • Katayama Hitoshi
    Department of Electrical and Electronic Engineering, Shizuoka University
  • Sano Shigenori
    Department of Mechanical Engineering, Toyohashi University of Technology
  • Uchiyama Naoki
    Department of Mechanical Engineering, Toyohashi University of Technology

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Abstract

<p>The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified experimentally when compared to a conventional backward-difference method.</p>

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