Super twisting control algorithm for the attitude tracking of a four rotors UAV |
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| Authors: | L Derafa A Benallegue L Fridman |
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| Institution: | 1. Automatic Control Laboratory EMP, Bordj El Bahri 16000, Algeria;2. Engineering Systems Laboratory of Versailles, 10-12 avenue de l''Europe, 78140 Velizy, France;3. Departamento de Control Automatico, CINVESTAV-IPN Mexico D.F. AP-14-740, Mexico;1. School of Automation, Southeast University, Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, Jiangsu, 210096, PR China;2. School of Automation Science and Electrical Engineering, Beihang University & Institute of Instrument Science and Opto-Electronics Engineering, Beijing, 100191, PR China;1. Instituto de Ingeniería, Universidad Nacional Autónoma de México, 04510, Mexico City, Mexico;2. Facultad de Ingeniería, Universidad Nacional Autónoma de México, 04510, Mexico City, Mexico;3. Non-A Post team, Inria Lille - Nord Europe, 59650 Villeneuve d’Ascq, France;1. Control and Research Group, Department of Engineering, University of Leicester, UK;2. College of Engineering Mathematics and Physical Sciences, University of Exeter, UK;1. Unidad Académica Juriquilla, Instituto de Ingeniería, Universidad Nacional Autónoma de México, Blvd. Juriquilla 3001, 76230 Querétaro, Qro., Mexico;2. Eléctrica y Computación, Instituto de Ingeniería, Universidad Nacional Autónoma de México, Av. Universidad 3000, 04510 Coyoacán, D.F., Mexico;3. Service d’Automatique, Université de Mons, Blvd. Dolez 31, B-7000 Mons, Belgium;1. Institut d’Automàtica i Informàtica Industrial, Universitat Politècnica de València, Spain;2. CONICET. LEICI, Facultad de Ingeniería, Universidad Nacional de La Plata, La Plata, Argentina |
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| Abstract: | This paper deals with the design and implementation of a nonlinear control algorithm for the attitude tracking of a four-rotor helicopter known as quadrotor. This algorithm is based on the second order sliding mode technique known as Super-Twisting Algorithm (STA) which is able to ensure robustness with respect to bounded external disturbances. In order to show the effectiveness of the proposed controller, experimental tests were carried out on a real quadrotor. The obtained results show the good performance of the proposed controller in terms of stabilization, tracking and robustness with respect to external disturbances. |
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