Postural Stabilization of Quadrotor using Extended Kalman Filter and Integral Sliding Mode Control

Abstract

Abstract In this paper, we consider the stabilization and the estimate of quadrotor’s posture. Nowadays, as the interest in unmanned aerial vehicle (UAV) has increased, various application fields using UAV have appeared. The quadrotor is the most common type of UAV and many approaches to control the system have been studied. In real control environment, the system of quadrotor is affected by disturbance and measurement noise. Minimizing the effects of disturbance or measurement noise is important part. We propose the extended kalman filter (EKF) to reduce effectively the measurement noise of the nonlinear drones system and the integral sliding mode control (ISMC), a robust controller for the model uncertainty and disturbance. We show the proposed control performance through some simulations.