Embedded Super Twisting Control for the Attitude of a Quadrotor

被引：11

作者：

Escobar, A. G. ^{[1
]}

Alazki, H. ^{[2
]}

Valenzuela, J. E. ^{[1
]}

Garcia, O. ^{[1
]}

机构：

[1] CIIIA FIME UANL, Aerosp Engn Res & Innovat Ctr, Monterrey, Nuevo Leon, Mexico

[2] Autonomous Univ Ciudad Carmen, Fac Engn, Campeche, Mexico

来源：

IEEE LATIN AMERICA TRANSACTIONS | 2016年 / 14卷 / 09期

关键词：

Quadrotor; Embedded Control; Embedded Super Twisting Control; Sliding Mode Control; Flight Computer; 4; ROTORS; STABILIZATION;

D O I：

10.1109/TLA.2016.7785921

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on the embedded Super Twisting control for the orientation dynamics of a quadrotor. The Newton-Euler approach is applied to obtain the dynamic model of the quadrotor and a functional description of the experimental platform is described. In order to implement the control algorithm and perform real-time flights, a commercial flight computer is used. Experimental results are obtained in real-time during the autonomous flight.

引用

页码：3974 / 3979

页数：6

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