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
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