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

Igor Boiko; Mohammad Chehadeh

doi:10.1080/00207179.2017.1421775

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

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

14 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 language	British English
Pages (from-to)	2113-2120
Number of pages	8
Journal	International Journal of Control
Volume	91
Issue number	9
DOIs	https://doi.org/10.1080/00207179.2017.1421775
State	Published - 2 Sep 2018

Keywords

differentiator
observer
quadcopter
quadrotor
sensor fusion
Sliding mode

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title = "Sliding mode differentiator/observer for quadcopter velocity estimation through sensor fusion",

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.",

keywords = "differentiator, observer, quadcopter, quadrotor, sensor fusion, Sliding mode",

author = "Igor Boiko and Mohammad Chehadeh",

note = "Funding Information: This work was supported by the Petroleum Institute [grant number RIFP 15301]. Publisher Copyright: {\textcopyright} 2018, {\textcopyright} 2018 Informa UK Limited, trading as Taylor \& Francis Group.",

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AB - 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.

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KW - quadcopter

KW - quadrotor

KW - sensor fusion

KW - Sliding mode

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

Abstract

Keywords

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