Sliding mode differentiator/observer for quadcopter velocity estimation through sensor fusion

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11 Scopus citations

Abstract

A method of fusion of the position sensor from the motion capture optical system and accelerometer to produce velocity signal of the quadcopter is proposed. Fusion is done through second-order and asymptotic second-order sliding mode control. A differentiator/observer for the vertical speed channel is presented. The results are illustrated by simulations and experiments.

Original languageBritish English
Pages (from-to)2113-2120
Number of pages8
JournalInternational Journal of Control
Volume91
Issue number9
DOIs
StatePublished - 2 Sep 2018

Keywords

  • differentiator
  • observer
  • quadcopter
  • quadrotor
  • sensor fusion
  • Sliding mode

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