This paper addresses an adaptive super twisting control for a dual-rotor flight system subject to uncertainties. The system can perform vertical take-off and landing, roll and yaw movements. The dynamical model is described under the Euler-Lagrange approach, where a characterization of the thrust and the torque of the rotors is included. However, uncertainties such as friction and unmodeled dynamics remain. To overcome these problems, a class of adaptive sliding mode control is designed, which is robust to bounded uncertainties and external perturbations, offers reduced chattering, and not overestimate the control gain. Furthermore, the closed-loop stability is analyzed. Finally, simulation and experimental validation, and a comparison versus other standard control approaches illustrate the feasibility and usefulness of the proposed controller.
|Number of pages||9|
|Journal||International Journal of Control, Automation and Systems|
|State||Published - Jun 2021|
Bibliographical noteFunding Information:
The authors thank to CONACYT, Tecnologico de Monterrey and Universidad de Sonora for support through scholarship to develop this project.
© 2021, ICROS, KIEE and Springer.
- Adaptive sliding mode control
- flight systems