Adaptive Modified Super-Twisting Control for a Quadrotor Helicopter with a Nonlinear Sliding Surface

被引：0
作者：
Akbar, Reesa [1 ]
Uchiyama, Naoki [2 ]
机构：
[1] Politekn Elekt Negeri Surabaya, Surabaya 60111, Indonesia
[2] Toyohashi Univ Technol, Toyohashi, Aichi 4418580, Japan
来源：
2017 SICE INTERNATIONAL SYMPOSIUM ON CONTROL SYSTEMS (SICE ISCS) | 2017年
关键词：
sliding mode control; quadrotor helicopter; adaptive super-twisting control; nonlinear sliding surface; STRICT LYAPUNOV FUNCTIONS; MODE CONTROLLER;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A robust flight control for a quadrotor un-manned aerial vehicle is addressed in this paper. An adaptive super-twisting control, a second order sliding mode control, is used to control position and attitude of a quadcopter. The controller reduces chattering, is robust to uncertainties and perturbations, increases accuracy and does not require time-derivative of sliding variables. A time-varying sliding surface is designed with a nonlinear function to provide varying properties of closed-loop dynamics and to improve control performance. The robustness and effectiveness of the proposed control system are demonstrated by simulation test.
引用
收藏
页码：93 / 98
页数：6
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