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Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench
Joint Authors
An, Honglei
Li, Jie
Wang, Jian
Wang, Jianwen
Ma, Hongxu
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-07-02
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
An, Honglei& Li, Jie& Wang, Jian& Wang, Jianwen& Ma, Hongxu. 2013. Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1009068
Modern Language Association (MLA)
An, Honglei…[et al.]. Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench. Mathematical Problems in Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-1009068
American Medical Association (AMA)
An, Honglei& Li, Jie& Wang, Jian& Wang, Jianwen& Ma, Hongxu. Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1009068
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009068