International Journal of Control, Vol.91, No.9, 2113-2120, 2018
Sliding mode differentiator/observer for quadcopter velocity estimation through sensor fusion
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.