Sliding mode differentiator/observer for quadcopter velocity estimation through sensor fusion

ABSTRACT

A method of fusion of the position sensor from the motion capture optical system and accelerometer to produce velocity signal of the quadcopter is proposed. Fusion is done through second-order and asymptotic second-order sliding mode control. A differentiator/observer for the vertical speed channel is presented. The results are illustrated by simulations and experiments.

KEYWORDS:

• Sliding mode
• differentiator
• observer
• sensor fusion
• quadcopter
• quadrotor

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the Petroleum Institute [grant number RIFP 15301].