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| Output feedback adaptive super twisting sliding mode control for quadrotor UAVs |
| OscarSalas-Peña1,JesusDeLeón-Morales2,SusanaV.Gutiérrez-Martínez2 |
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| (1 école Centrale de Nantes - LS2N, UMR 6004 CNRS, 44300 Nantes, France;;2 Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Nuevo León, 66451 San Nicolás de Los Garza, Mexico.) |
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| 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. |
| 关键词: Adaptive super twisting controller · High-order sliding modes observer · UAV |
| DOI：https://doi.org/10.1007/s11768-023-00195-2 |
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| 基金项目: |
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| Output feedback adaptive super twisting sliding mode control for quadrotor UAVs |
| Oscar Salas-Peña1,Jesus DeLeón-Morales2,Susana V. Gutiérrez-Martínez2 |
| (1 école Centrale de Nantes - LS2N, UMR 6004 CNRS, 44300 Nantes, France;;2 Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Nuevo León, 66451 San Nicolás de Los Garza, Mexico.) |
| Abstract: |
| 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. |
| Key words: Adaptive super twisting controller · High-order sliding modes observer · UAV |
