Output feedback adaptive super twisting sliding mode control for quadrotor UAVs

被引:0
作者
Oscar Salas-Peña
Jesus DeLeón-Morales
Susana V. Gutiérrez-Martínez
机构
[1] École Centrale de Nantes - LS2N,Facultad de Ingeniería Mecánica y Eléctrica
[2] UMR 6004 CNRS,undefined
[3] Universidad Autónoma de Nuevo León,undefined
来源
Control Theory and Technology | 2024年 / 22卷
关键词
Adaptive super twisting controller; High-order sliding modes observer; UAV;
D O I
暂无
中图分类号
学科分类号
摘要
In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.
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页码:92 / 105
页数:13
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