Authors:
Yassine Kali
1
;
Jorge Rodas
2
;
Maarouf Saad
1
;
Raul Gregor
2
;
Walid Alqaisi
1
and
Khalid Benjelloun
3
Affiliations:
1
GRÉPCI Laboratory, École de Technologie Supérieure, 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):
Quadrotor, Unmanned Aerial Vehicle, Position and Attitude Tracking, Finite-time Convergence, Super-Twisting Algorithm.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
;
Space and Underwater Robotics
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.