Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench

Honglei An, Jie Li, Jian Wang, Jianwen Wang and Hongxu Ma

Mathematical Problems in Engineering, 2013, vol. 2013, 1-12

Abstract:

A sliding mode observer design framework is proposed based on the Lie group method of numerical integration on manifolds, and a Second-Order Geometric Sliding Mode Attitude Observer (SOGSMAO) is designed for angular velocity estimation of quadrotor attitude. The algorithm constructs feedback in the angular velocity space and the space of equivalent Lie algebra of unit quaternion space, respectively. It avoids not only the complexity of constructing feedback in unit quaternion space but also the process of mandatory rescaling which is seen to deteriorate the accuracy of the angular velocity estimates during sliding. The performance of SOGSMAO is compared with traditional quaternion based sliding mode observer in which multiplicative quaternion correction is used and the results show that SOGSMAO gains better tracking performance. Then SOGSMAO is realized on a test bed and the effectiveness of the observer algorithm is verified by experimental studies.

Date: 2013
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2013/328974.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2013/328974.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:328974

DOI: 10.1155/2013/328974

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().