Design and Simulation of the integral backstepping sliding mode control and extended Kalman-Bucy filter for quadrotor

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FARAJI J.; KEIGHOBADI J.

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2021 | Volume:50 | Issue:4 (93) Page(s): 131-140

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Title

Design and Simulation of the integral backstepping sliding mode control and extended Kalman-Bucy filter for quadrotor

Author(s)

FARAJI J. | KEIGHOBADI J. | Issue Writer Certificate

Keywords

Quadrotor

Extended Kalman-Bucy Filter

Integral Backstepping Sliding Mode Control

Noise

Abstract

In this paper, the integral backstepping sliding mode (IBSM) control with the Extended Kalman-Bucy Filter (EKBF) to control and state estimation of unmanned aerial vehicles (Quadrotor) is provided. In the Quadrotor system, the aerodynamic effects of the dynamics of a system are considered, and dynamical equations are derived by the Newton-Euler method. Quadrotor's behavior, which is affected by forces and aerodynamic moments is non-linear, but the Integral Backstepping Sliding Mode Control has been able to stabilize the system dynamically, without considering the system and measurement Noises and assuming all the dynamic states of the system. Noise is immaterial in dynamic systems, and the measurement of all systems states in practice is very complex and expensive; for this purpose, the EKBF in the control structure is used as observer states of the system and Noise reduction in these modes. Therefore, simultaneous use of the controller-observer is suggested for controlling and estimating quadrature states. The numerical simulation demonstrates the good performance of the proposed controller-observer so that they were able to estimate both the system's unobservable state and overcome system and measurement Noise.

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APA: Copy

FARAJI, J., & KEIGHOBADI, J.. (2021). Design and Simulation of the integral backstepping sliding mode control and extended Kalman-Bucy filter for quadrotor. JOURNAL OF MECHANICAL ENGINEERING, 50(4 (93) ), 131-140. SID. https://sid.ir/paper/269785/en

Vancouver: Copy

FARAJI J., KEIGHOBADI J.. Design and Simulation of the integral backstepping sliding mode control and extended Kalman-Bucy filter for quadrotor. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2021;50(4 (93) ):131-140. Available from: https://sid.ir/paper/269785/en

IEEE: Copy

J. FARAJI, and J. KEIGHOBADI, “Design and Simulation of the integral backstepping sliding mode control and extended Kalman-Bucy filter for quadrotor,” JOURNAL OF MECHANICAL ENGINEERING, vol. 50, no. 4 (93) , pp. 131–140, 2021, [Online]. Available: https://sid.ir/paper/269785/en

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