Regular Papers

International Journal of Control, Automation and Systems 2009; 7(3): 419-428

Published online May 30, 2009

https://doi.org/10.1007/s12555-009-0311-8

© The International Journal of Control, Automation, and Systems

Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter

Daewon Lee, H. Jin Kim*, and Shankar Sastry

Seoul National University, Korea

Abstract

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.

Keywords Feedback linearization, sliding mode control, UAV, quadrotor helicopter.

Article

Regular Papers

International Journal of Control, Automation and Systems 2009; 7(3): 419-428

Published online June 1, 2009 https://doi.org/10.1007/s12555-009-0311-8

Copyright © The International Journal of Control, Automation, and Systems.

Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter

Daewon Lee, H. Jin Kim*, and Shankar Sastry

Seoul National University, Korea

Abstract

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.

Keywords: Feedback linearization, sliding mode control, UAV, quadrotor helicopter.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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