Adaptive second-order sliding mode observer for quadrotor attitude estimation

@article{Chang2016AdaptiveSS,
  title={Adaptive second-order sliding mode observer for quadrotor attitude estimation},
  author={Jing Chang and J{\'e}r{\^o}me Cieslak and Jorge Davila and Ali Zolghadri and Jun Zhou},
  journal={2016 American Control Conference (ACC)},
  year={2016},
  pages={2246-2251}
}
The problem studied in this paper is that of quadrotor attitude estimation using an adaptive second-order sliding mode (SM) observer. The gains are dynamically adapted to the sliding motion to ensure the convergence of observer error to the sliding manifold in the finite time. Position measurements of quadrotor are used in this adaptive SM observer to provide the pitch and roll angle estimates that are robust to the accelerometer and/or gyroscope faults. In addition, the observer is extended… CONTINUE READING