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,France2.Facultad de Ingeniería Mecánica y Eléctrica,Universidad Autónoma de Nuevo León,66451 San Nicolás de Los Garza,Mexico
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.
机标关键词：controlsupermodeuavsadaptivefeedbackoutputquadrotor
论文发表日期：2024-02-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：14( 92-105 )
英文信息