Super-twisting observer-based sliding mode control with fuzzy variable gains and its applications to fully-actuated hexarotors |
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| Authors: | Ngo Phong Nguyen Wonhee Kim Jun Moon |
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| Institution: | 1. School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea;2. School of Energy Systems Engineering, Chung-Ang University, Seoul, South Korea;3. School of Electrical and Computer Engineering, University of Seoul, Seoul, South Korea |
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| Abstract: | In this paper, we consider the super-twisting observer-based sliding mode control algorithm with fuzzy variable gains (STOSMC) for the fully-actuated hexarotor. Our hexarotor has full actuation due to six titled propellers that allows to control position and orientation (attitude) simultaneously, and resolves the singularity problem of the rotational matrix by using the quaternion modeling framework. We show that the proposed STOSMC for the hexarotor guarantees finite-time convergence of the estimation error and asymptotic stability of the hexarotor. In simulations, we demonstrate the nonsingularity and fully-actuated control performance of the hexarotor by considering extreme position and attitude control scenarios. Moreover, the simulation results show that the hexarotor achieves the fast and precise tracking performance to the desired position and the desired attitude and the chattering phenomenon is reduced compared with the fixed-gains observer-based super-twisting sliding mode control due to the fuzzy mechanism. |
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| Keywords: | Corresponding author |
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