TY - JOUR
T1 - Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties
AU - Arizaga, Jorge M.
AU - Noriega, Jose R.
AU - Garcia-Delgado, L. A.
AU - Castañeda, Herman
N1 - Publisher Copyright:
© 2021, ICROS, KIEE and Springer.
PY - 2021/6
Y1 - 2021/6
N2 - 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.
AB - 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.
KW - Adaptive sliding mode control
KW - UAS
KW - UAV
KW - flight systems
UR - http://www.scopus.com/inward/record.url?scp=85103976083&partnerID=8YFLogxK
U2 - 10.1007/s12555-019-1801-6
DO - 10.1007/s12555-019-1801-6
M3 - Artículo
AN - SCOPUS:85103976083
SN - 1598-6446
VL - 19
SP - 2251
EP - 2259
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 6
ER -