Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode

Yassine Kali, Jorge Rodas, Maarouf Saad, Khalid Benjelloun, Magno Ayala, Raul Gregor

2018

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.

Paper Citation

in Harvard Style

Kali Y., Rodas J., Saad M., Benjelloun K. and Gregor R. (2018). Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 435-442. DOI: 10.5220/0006861904350442

in Bibtex Style

@conference{icinco18,
author={Yassine Kali and Jorge Rodas and Maarouf Saad and Khalid Benjelloun and Raul Gregor},
title={Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={435-442},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006861904350442},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode
SN - 978-989-758-321-6
AU - Kali Y.
AU - Rodas J.
AU - Saad M.
AU - Benjelloun K.
AU - Gregor R.
PY - 2018
SP - 435
EP - 442
DO - 10.5220/0006861904350442