Vision-based trajectory tracking control of quadrotors using super twisting sliding mode control

被引：23
作者：
Wu W. [1 ]
Jin X. [1 ]
Tang Y. [1 ]
机构：
[1] Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai
来源：
Cyber-Physical Systems | 2020年 / 6卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Quadrotors; super twisting sliding mode; trajectory tracking control; vision localisation;
D O I：
10.1080/23335777.2020.1727960
中图分类号：
学科分类号：
摘要：
A trajectory-tracking problem for a vision-based quadrotor control system is investigated in this paper. A super twisting sliding mode (STSM) controller is proposed for finite-time trajectory tracking control. With the help of the homogeneous technique, the closed-loop system is proved to be finite-time stable. In addition, due to the introduction of super twisting mechanism, the controller can restrain chattering effect of sliding mode control. On the other hand, a pose estimation through data fusion is proposed to localise the quadrotor. A Kalman filter (KF) is utilised to fuse the estimated pose from semi-direct monocular visual odometry (SVO) with data from inertial measurement unit (IMU). A number of simulations are carried out on MATLAB and physical engine simulator Gazebo. The results show that the proposed system controller has better performances in terms of robustness and anti-disturbance than the proportional–integral–derivative (PID) controller and the first order sliding mode controller. © 2020 Informa UK Limited, trading as Taylor & Francis Group.
引用
收藏
页码：207 / 230
页数：23
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