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JRM Vol.28 No.3 pp. 304-313
doi: 10.20965/jrm.2016.p0304
(2016)

Paper:

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Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter

Reesa Akbar*,**, Bambang Sumantri*,**, Hitoshi Katayama***, Shigenori Sano*, and Naoki Uchiyama*

*Department of Mechanical Engineering, Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

**Department of Electrical Engineering, Politeknik Elektronika Negeri Surabaya
Raya ITS, Keputih Sukolilo, Surabaya 60111, Indonesia

***Department of Electrical and Electronic Engineering, Shizuoka University
3-5-1 Johoku, Naka-ku, Hamamatsu 432-8561, Japan

Received:
August 28, 2015
Accepted:
March 22, 2016
Published:
June 20, 2016
Creative Commons License
Keywords:
reduced-order observer, quad-rotor helicopter, sampler data system, sliding mode controller, tracking control
Abstract
The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified experimentally when compared to a conventional backward-difference method.
Quadcopter for repeated control verification

Quadcopter for repeated control verification

Cite this article as:
R. Akbar, B. Sumantri, H. Katayama, S. Sano, and N. Uchiyama, “Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter,” J. Robot. Mechatron., Vol.28 No.3, pp. 304-313, 2016.
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