Analysis and design of second-order sliding-mode algorithms for quadrotor roll and pitch estimation

• Published in: ISA transactions Vol. 71; no. Pt 2; pp. 495 - 512
• Main Authors: Chang, Jing, Cieslak, Jérôme, Dávila, Jorge, Zolghadri, Ali, Zhou, Jun
• Format: Journal Article
• Language: English
• Published: United States Elsevier Ltd 01.11.2017; Elsevier
• Subjects: Adaptive Sliding Mode observer; Automatic Control Engineering; Computer Science; Estimation; Smooth Sliding Mode observer; Unmanned Aerial Vehicle; Adaptive Sliding Mode observer; Smooth Sliding Mode observer; Estimation; Unmanned Aerial Vehicle; Sliding modes; Sliding mode state estimator
• ISSN: 0019-0578; 1879-2022
• DOI: 10.1016/j.isatra.2017.09.012

The problem addressed in this paper is that of quadrotor roll and pitch estimation without any assumption about the knowledge of perturbation bounds when Inertial Measurement Units (IMU) data or position measurements are available. A Smooth Sliding Mode (SSM) algorithm is first designed to provide reliable estimation under a smooth disturbance assumption. This assumption is next relaxed with the second proposed Adaptive Sliding Mode (ASM) algorithm that deals with disturbances of unknown bounds. In addition, the analysis of the observers are extended to the case where measurements are corrupted by bias and noise. The gains of the proposed algorithms were deduced from the Lyapunov function. Furthermore, some useful guidelines are provided for the selection of the observer turning parameters. The performance of these two approaches is evaluated using a nonlinear simulation model and considering either accelerometer or position measurements. The simulation results demonstrate the benefits of the proposed solutions. •The roll and pitch angles of a quadrotor are estimated from IMU and position measurements by means of second order sliding mode techniques.•An adaptive sliding mode (ASM) observer is proposed for the unknown input estimation, without making any assumption about the knowledge of perturbation bounds.•A comparison with the Smooth Sliding Mode (SSM) based observer is investigated to show that the knowledge of perturbation bounds can be relaxed without performance degradation.•The stability proof of both algorithms are given by using Lyapunov method and an upper bound of finite time convergence is provided.•Some guidelines are provided for the selection of the turning parameters of SSM and ASM algorithms.