Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles
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.
Keywords
Cite
@article{arxiv.2303.11770,
title = {Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles},
author = {D. M. K. K. Venkateswara Rao and Hamed Habibi and Jose Luis Sanchez-Lopez and Prathyush P. Menon and Christopher Edwards and Holger Voos},
journal= {arXiv preprint arXiv:2303.11770},
year = {2023}
}
Comments
We are working on a new version of this paper and revising some technical parts. We will replace the new version as soon as it is carefully revised