Super twisting control algorithm for the attitude tracking of a four rotors UAV
This paper deals with the design and implementation of a nonlinear control algorithm for the attitude tracking of a four-rotor helicopter known as quadrotor. This algorithm is based on the second order sliding mode technique known as Super-Twisting Algorithm (STA) which is able to ensure robustness...
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| Veröffentlicht in: | Journal of the Franklin Institute 2012-03, Vol.349 (2), p.685-699 |
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| container_end_page | 699 |
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| container_title | Journal of the Franklin Institute |
| container_volume | 349 |
| creator | Derafa, L. Benallegue, A. Fridman, L. |
| description | This paper deals with the design and implementation of a nonlinear control algorithm for the attitude tracking of a four-rotor helicopter known as quadrotor. This algorithm is based on the second order sliding mode technique known as Super-Twisting Algorithm (STA) which is able to ensure robustness with respect to bounded external disturbances. In order to show the effectiveness of the proposed controller, experimental tests were carried out on a real quadrotor. The obtained results show the good performance of the proposed controller in terms of stabilization, tracking and robustness with respect to external disturbances. |
| doi_str_mv | 10.1016/j.jfranklin.2011.10.011 |
| format | Article |
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| ispartof | Journal of the Franklin Institute, 2012-03, Vol.349 (2), p.685-699 |
| issn | 0016-0032 1879-2693 |
| language | eng |
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| source | Elsevier ScienceDirect Journals |
| subjects | Adaptative systems Algorithms Applied sciences Computer science control theory systems Control theory Control theory. Systems Disturbances Exact sciences and technology Fundamental areas of phenomenology (including applications) Mathematical analysis Physics Robustness Solid dynamics (ballistics, collision, multibody system, stabilization...) Solid mechanics Stabilization Tracking Twisting |
| title | Super twisting control algorithm for the attitude tracking of a four rotors UAV |
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