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arXiv · 2303.11770

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

D. M. K. K. Venkateswara Rao·Hamed Habibi·Jose Luis Sanchez-Lopez·Prathyush P. Menon·Christopher Edwards·Holger Voos
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Abstract

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is designed to determine the desired accelerations using the proposed controller and subsequently used to compute the desired orientation and angular rates. The finite-time convergence of sliding functions and closed-loop system stability are analytically proven. Furthermore, the restrictive assumption on the maximum variation of the disturbance is relaxed by designing a gain adaptation law and low-pass filtering of the estimated equivalent control. The proper selection of design parameters is discussed in detail. Finally, the effectiveness of the proposed method is evaluated by high-fidelity software-in-the-loop simulations and validated by experimental studies.

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BibTeXRIS

D. M. K. K. Venkateswara Rao, Hamed Habibi, Jose Luis Sanchez-Lopez, Prathyush P. Menon, Christopher Edwards, Holger Voos. 2023-03-21. Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles. https://arxiv.org/abs/2303.11770

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