Authors:
Yassine Kali
1
;
Jorge Rodas
2
;
Maarouf Saad
1
;
Khalid Benjelloun
3
;
Magno Ayala
2
and
Raul Gregor
2
Affiliations:
1
École de Technologie Supérieure, Quebec University, Montreal, QC H3C 1K3 and Canada
;
2
Laboratory of Power and Control Systems, Facultad de Ingeniería, Universidad Nacional de Asunción and Paraguay
;
3
A2I Laboratory, Ecole Mohammadia d’Ingénieurs, Mohammed V University, Rabat and Morocco
Keyword(s):
Altitude Tracking, Attitude Tracking, Finite-time Convergence, Lyapunov, Unmanned Aerial Vehicle, Second Order Sliding Mode, Super-twisting Algorithm, Uncertainties.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Analysis and Control of Hybrid Dynamical Systems
;
Nonlinear Signals and Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
This paper presents the problem of robust altitude and attitude trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV) based on a finite-time second order sliding mode control algorithm. The chosen algorithm is a modified super-twisting control with double closed-loop feedback regulation that provides fast finite-time convergence even when the system trajectories are far from the sliding surface, robustness against a wide class of uncertainties and disturbances. Moreover, this algorithm eliminates the major disadvantage of the classical sliding mode, the well-known chattering phenomenon. The stability analysis of the closed-loop system and the convergence time are given based on a strong Lyapunov function. To show the effectiveness of the used method, simulation results of different scenarios are presented for the considered tri-rotor UAV.