Title: Vision-based leader-follower approach for uncertain quadrotor dynamics using feedback linearisation sliding mode control

Authors: Walid Alqaisi; Brahim Brahmi; Jawhar Ghommam; Maarouf Saad; Vahé Nerguizian

Addresses: Department of Electrical Engineering, École de technologie supérieure, University of Quebec, Montreal, Canada ' École de technologie supérieure, University of Quebec, Montreal, Canada ' Department of Electrical and Computer Engineering, Sultan Quaboos University, Muscat, Oman ' École de technologie supérieure, University of Quebec, Montreal, Canada ' École de technologie supérieure, University of Quebec, Montreal, Canada

Abstract: In this paper, a leader-follower quadrotor based on a visual system is presented. It is assumed that the follower quadrotor is equipped with a single onboard camera for determining the position of the leader. In the following quadrotor, feedback linearisation based on sliding mode control FLSMC is designed. The latter reduces complex nonlinear control solutions and highly coupled dynamic behaviour of the quadrotor. Uncertain dynamics and unexpected disturbances such as the change of payload and wind variation are overcome by designing time delay estimation, which helps in reducing chattering. The proposed controller uses a second order sliding mode exact differentiator to estimate the leader velocity and acceleration. The effectiveness of the proposed system is analysed by Lyapunov function and studied by MATLAB simulation.

Keywords: leader-follower; feedback linearisation sliding mode control; FLSMC; quadrotor; second order sliding mode estimator; time delay estimation.

DOI: 10.1504/IJMIC.2019.103980

International Journal of Modelling, Identification and Control, 2019 Vol.33 No.1, pp.9 - 19

Available online: 28 Nov 2019 *

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