Adaptive super-twisting trajectory tracking control for an unmanned aerial vehicle under gust winds

被引：49

作者：

Cui, Lei ^{[1
]}

Zhang, Ruizhi ^{[1
]}

Yang, Hongjiu ^{[1
]}

Zuo, Zhiqiang ^{[1
]}

机构：

[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China

来源：

AEROSPACE SCIENCE AND TECHNOLOGY | 2021年 / 115卷

基金：

中国国家自然科学基金;

关键词：

Unmanned aerial vehicles (UAVs); Adaptive super-twisting control; Sliding mode control; Extended state observer (ESO); Gust winds; DISTURBANCE REJECTION; ATTITUDE-CONTROL; QUADROTOR UAV;

D O I：

10.1016/j.ast.2021.106833

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper, an adaptive control strategy is investigated on trajectory tracking for an unmanned aerial vehicle with four rotors under gust winds. There exist external disturbances in horizontal positions for the reason of the gust winds which are estimated by an adaptive super-twisting extended state observer. An adaptive super-twisting sliding mode controller is designed to track a desired trajectory for the unmanned aerial vehicle with four rotors. Finite-time convergency is shown for the adaptive super-twisting extended state observer and the adaptive super-twisting sliding mode controller. Effectiveness of the adaptive control strategy is shown in experimental results for the unmanned aerial vehicle with four rotors under gust winds. (C) 2021 Elsevier Masson SAS. All rights reserved.

引用

页数：11

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