Position and Attitude control of a Quadrotor UAV using Super Twisting Sliding Mode

被引：53
|
作者：
Jayakrishnan, H. J. [1 ]
机构：
[1] Indian Inst Space Sci & Technol, Dept Avion, Trivandrum 695547, Kerala, India
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 01期
关键词：
Sliding mode control; Nonlinear control; Robust stability; Lyapunov Stability; Cascade control; ORDER;
D O I：
10.1016/j.ifacol.2016.03.067
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 discusses a super twisting sliding mode controller designed for a quadrotor Unmanned Aerial Vehicle by utilising a cascaded inner outer loop structure. The sliding mode controller helps reject disturbances and model uncertainties, whereas the super twistirig algorithru helps reduce the chattering effect. The controller is tested against wind turbulence conditions and modelling uncertainties. Results are compared with popularly used linear LQR-PD controller and a non-linear feedback linearization based controller. It's robustness is also compared against a conventional first order sliding mode controller and the results are presented. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：284 / 289
页数：6
相关论文
共 50 条
  • [1] Attitude and Position Control of Quadrotor UAV Using PD-Fuzzy Sliding Mode Control
    Han, Jong Ho
    Feng, Yi Min
    Peng, Fei
    Dong, Wei
    Sheng, Xin Jun
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT III, 2017, 10464 : 563 - 575
  • [2] Position and Attitude Tracking Control for a Quadrotor UAV Based on Terminal Sliding Mode Control
    Zhou Weidong
    Zhu Pengxiang
    Wang Changlong
    Chu Min
    [J]. 2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 3398 - 3404
  • [3] High Gain and Super-twisting Sliding Mode Observers for the Adaptive Control of Quadrotor UAV
    Anwar, Junaid
    Malik, Fahad Mumtaz
    Abdullah, Muhammad
    Abbas, Asad
    [J]. 2016 13TH INTERNATIONAL BHURBAN CONFERENCE ON APPLIED SCIENCES AND TECHNOLOGY (IBCAST), 2016, : 145 - 153
  • [4] Altitude and Attitude Tracking of a Quadrotor-Based Aerial Manipulator using Super Twisting Sliding Mode Control
    Kuchwa-Dube, Chioniso
    Pedro, Jimoh O.
    [J]. ICCMA 2018: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION, 2018, : 65 - 69
  • [5] Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization
    Noordin, Aminurrashid
    Basri, Mohd Ariffanan Mohd
    Mohamed, Zaharuddin
    Lazim, Izzuddin Mat
    [J]. ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2021, 46 (02) : 963 - 981
  • [6] Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization
    Aminurrashid Noordin
    Mohd Ariffanan Mohd Basri
    Zaharuddin Mohamed
    Izzuddin Mat Lazim
    [J]. Arabian Journal for Science and Engineering, 2021, 46 : 963 - 981
  • [7] SECOND-ORDER SLIDING MODE FOR POSITION AND ATTITUDE TRACKING CONTROL OF QUADCOPTER UAV: SUPER-TWISTING ALGORITHM
    Matouk, Djihad
    Abdessemed, Foudil
    Gherouat, Oussama
    Terchi, Younes
    [J]. INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2020, 16 (01): : 29 - 43
  • [8] Path Following Control of Quadrotor UAV With Continuous Fractional-Order Super Twisting Sliding Mode
    Moussa Labbadi
    Yassine Boukal
    Mohamed Cherkaoui
    [J]. Journal of Intelligent & Robotic Systems, 2020, 100 : 1429 - 1451
  • [9] Path Following Control of Quadrotor UAV With Continuous Fractional-Order Super Twisting Sliding Mode
    Labbadi, Moussa
    Boukal, Yassine
    Cherkaoui, Mohamed
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020, 100 (3-4) : 1429 - 1451
  • [10] Sliding mode control design for the attitude and altitude of the quadrotor UAV
    Eltayeb, Ahmed
    Rahmat, Mohd Fua'ad
    Basri, Mohd Ariffanan Mohd
    [J]. INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, 2020, 13 (01):
12345