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

被引：37
|
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
收藏
页数：11
相关论文
共 50 条
  • [41] Attitude trajectory tracking of quadrotor UAV using super-twisting observer-based adaptive controller
    Chen, Ai-Jun
    Sun, Ming-Jian
    Wang, Zhen-Hua
    Feng, Nai-Zhang
    Shen, Yi
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2021, 235 (10) : 1146 - 1157
  • [42] Adaptive Optimization Tracking Control for an Unmanned Aerial Vehicle with Disturbance Suppression
    Yang, Meiying
    Zhu, Hai
    Xia, Xingyu
    Liu, Zhe
    Yao, Wen
    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 2024, : 765 - 771
  • [43] Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances
    Li, Shuo
    Duan, Na
    Min, Huifang
    ASIAN JOURNAL OF CONTROL, 2024, 26 (01) : 150 - 161
  • [44] Modeling of an unmanned aerial vehicle and trajectory tracking control using backstepping approach
    Taame, A.
    Lachkar, I
    Abouloifa, A.
    IFAC PAPERSONLINE, 2022, 55 (12): : 276 - 281
  • [45] Event-triggered control for trajectory tracking of quadrotor unmanned aerial vehicle
    Ye, Peiyun
    Yu, Yang
    Wang, Wei
    SYSTEMS SCIENCE & CONTROL ENGINEERING, 2022, 10 (01) : 241 - 254
  • [46] Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle
    MacKunis, W.
    Wilcox, Z. D.
    Kaiser, M. K.
    Dixon, W. E.
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (06) : 1390 - 1397
  • [47] Adaptive control of an unmanned aerial vehicle
    Nguen, V. F.
    Putov, A. V.
    Nguen, T. T.
    ICNPAA 2016 WORLD CONGRESS: 11TH INTERNATIONAL CONFERENCE ON MATHEMATICAL PROBLEMS IN ENGINEERING, AEROSPACE AND SCIENCES, 2017, 1798
  • [48] Robust Trajectory Tracking for Unmanned Aircraft Systems using a Nonsingular Terminal Modified Super-Twisting Sliding Mode Controller
    Filiberto Muñoz
    Eduardo S. Espinoza
    Iván González-Hernández
    Sergio Salazar
    Rogelio Lozano
    Journal of Intelligent & Robotic Systems, 2019, 93 : 55 - 72
  • [49] Robust Trajectory Tracking for Unmanned Aircraft Systems using a Nonsingular Terminal Modified Super-Twisting Sliding Mode Controller
    Munoz, Filiberto
    Espinoza, Eduardo S.
    Gonzalez-Hernandez, Ivan
    Salazar, Sergio
    Lozano, Rogelio
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 93 (1-2) : 55 - 72
  • [50] Higher-Order Super-Twisting Control for Trajectory Tracking Control of Skid-Steered Mobile Robot
    Matraji, Imad
    Al-Wahedi, Khaled
    Al-Durra, Ahmed
    IEEE ACCESS, 2020, 8 : 124712 - 124721
12345