Design and experiment of adaptive modified super-twisting control with a nonlinear sliding surface for a quadrotor helicopter

Author:

Akbar Reesa12ORCID,Uchiyama Naoki1

Affiliation:

1. Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan

2. Electronic Engineering Polytechnic Institute of Surabaya, Surabaya, Indonesia

Abstract

Quadrotor unmanned aerial vehicle is a nonlinear system of 6-degree-of-freedom motion. In order to handle the nonlinearity that causes undesirable behavior, robustness of flight control has been studied. In this work, we consider the combination of higher order sliding mode control and nonlinear time-varying sliding surface for robustness and accuracy in tracking. An adaptive super-twisting control, a second-order sliding mode control, is utilized to compensate for the uncertainty and perturbation of a quadrotor system. A time-varying sliding surface is designed with a nonlinear function to provide varying properties of closed-loop dynamics and to improve control performance with energy consumption reduction. The proposed control system performance including energy consumption was compared among nonlinear adaptive super-twisting control algorithm, linear adaptive super-twisting control algorithm, and linear super twisting controllers, without and under wind disturbance. The robustness and effectiveness of the proposed control system are demonstrated by several times simulation and experiment using a quadrotor helicopter test bed.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Reference24 articles.

Cited by 5 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3