Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using Super-Twisting Control Algorithm with Linear Correction Terms

Yassine Kali, Jorge Rodas, Maarouf Saad, Raul Gregor, Walid Alqaisi, Khalid Benjelloun

Abstract

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms. It ensures robustness against unknown dynamics and perturbations and allows fast finite-time convergence even when the trajectories of the considered system are far from the user-chosen switching surface. In addition, this algorithm is very attractive since it solves the major problems of the first and second order sliding mode, namely, the chattering phenomenon and the required unavailable information for practical implementation. To show the effectiveness of the used modified structure of the super-twisting algorithm, simulation results are presented for the considered quadrotor system.

Download


Paper Citation


in Harvard Style

Kali Y., Rodas J., Saad M., Gregor R., Alqaisi W. and Benjelloun K. (2019). Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using Super-Twisting Control Algorithm with Linear Correction Terms.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 221-228. DOI: 10.5220/0007831202210228


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using Super-Twisting Control Algorithm with Linear Correction Terms
SN - 978-989-758-380-3
AU - Kali Y.
AU - Rodas J.
AU - Saad M.
AU - Gregor R.
AU - Alqaisi W.
AU - Benjelloun K.
PY - 2019
SP - 221
EP - 228
DO - 10.5220/0007831202210228


in Bibtex Style

@conference{icinco19,
author={Yassine Kali and Jorge Rodas and Maarouf Saad and Raul Gregor and Walid Alqaisi and Khalid Benjelloun},
title={Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using Super-Twisting Control Algorithm with Linear Correction Terms},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={221-228},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007831202210228},
isbn={978-989-758-380-3},
}