Nonlinear Observer Design and Sliding Mode Control of Four Rotors Helicopter

In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.

• H. Bouadi
• M. Tadjine

• Dynamic modelling
• nonholonomic constraints
• sliding mode
• nonlinear observer.

[1] A. Tayebi, S. Mcgilvray, 2004 "Attitude stabilisation of a four rotor
aerial robot", IEEE conference on decision and control, December
14-17, Atlantis Paradise Island, Bahamas 1216-1217.
[2] Derafa L. Madani t. and Benallegue A, 2006 « dynamic modelling and
experimental identification of four rotor helicopter parameters » ICIT
Mumbai, India.
[3] Hamel T. Mahoney r. Lozano r. Et Ostrowski j, 2002. "Dynamic
modelling and configuration stabilization for an X4-flyer." In the
15éme IFAC world congress-, Barcelona, Spain.
[4] S. Bouabdellah, P. Murrieri and R.Siegwart, 2004 "Design and
control of an indoor micro quadrotor" ICRA 2004, New Orleans
(USA), April.
[5] S. Bouabdellah, A.Noth and R.Siegwart, 2004 "modelling of the
(OS4) quadrotor" modelling course, EPFL, may.
[6] A. Mokhtari, A.Benallegue and A.Belaidi "polynomial linear
quadratic Gaussian and sliding mode observer for a quadrotor
unmanned aerial vehicle" Journal of Robotics and Mechatronics
Vol.17 No.4, 2005.
[7] A. Mokhtari, N.K.M-sirdi, K. Meghriche and A. Belaidi "feedback
linearization and linear observer for a quadrotor unmanned aerial
vehicle" Advanced Robotics, Vol.20, No.1, pp. 71-91, 2006.
[8] H. Bouadi, M. Bouchoucha, M. Tadjine "sliding mode control based
on backstepping approach for an UAV type-quadrotor" International
Journal of Applied Mathematics and Computer Sciences, Vol.4, No.1,
pp. 12-17, Barcelona; Spain 2007.
[9] H. Bouadi, M. Bouchoucha, M. Tadjine "modelling and stabilizing
control laws design based on backstepping for an UAV typequadrotor"
Proceeding of 6th IFAC Symposium on IAV, Toulouse,
France 2007.