Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory
In this paper, a nonlinear control method is proposed based on the framework of gain adaptive sliding mode control to deal with the attitude control problem of an unmanned aerial vehicle (UAV), which shows a strong robustness with respect to dynamical uncertainties and external disturbance. In the p...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Shanghai Jiao Tong University
2022-11-01
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| Series: | Shanghai Jiaotong Daxue xuebao |
| Subjects: | |
| Online Access: | http://xuebao.sjtu.edu.cn/article/2022/1006-2467/1006-2467-56-11-1453.shtml |
| _version_ | 1811316152664588288 |
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| author | ZHOU Qixian, WANG Yin, SUN Xuean |
| author_facet | ZHOU Qixian, WANG Yin, SUN Xuean |
| author_sort | ZHOU Qixian, WANG Yin, SUN Xuean |
| collection | DOAJ |
| description | In this paper, a nonlinear control method is proposed based on the framework of gain adaptive sliding mode control to deal with the attitude control problem of an unmanned aerial vehicle (UAV), which shows a strong robustness with respect to dynamical uncertainties and external disturbance. In the proposed method, an adaptive gain schedule scheme is proposed to deal with dynamical uncertainties while suppressing the chattering in the sliding mode control. First, the UAV model is introduced and its mathematical model is given. Then, the error is used as the state variable to design a stably converging sliding mode surface, and the gain adaptive super-twisting sliding mode (ASTSM) algorithm is used to design a UAV attitude controller that can converge in finite time, and the stability of the closed-loop UAV system is demonstrated by the Lyapunov’s second method. Finally, the efficiency of the proposed method is demonstrated through comparative simulations. |
| first_indexed | 2024-04-13T11:43:46Z |
| format | Article |
| id | doaj.art-3b7a88fb77d14b04b3c4f4b4e3e8b925 |
| institution | Directory Open Access Journal |
| issn | 1006-2467 |
| language | zho |
| last_indexed | 2024-04-13T11:43:46Z |
| publishDate | 2022-11-01 |
| publisher | Editorial Office of Journal of Shanghai Jiao Tong University |
| record_format | Article |
| series | Shanghai Jiaotong Daxue xuebao |
| spelling | doaj.art-3b7a88fb77d14b04b3c4f4b4e3e8b9252022-12-22T02:48:14ZzhoEditorial Office of Journal of Shanghai Jiao Tong UniversityShanghai Jiaotong Daxue xuebao1006-24672022-11-0156111453146010.16183/j.cnki.jsjtu.2022.238Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode TheoryZHOU Qixian, WANG Yin, SUN Xuean0College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaIn this paper, a nonlinear control method is proposed based on the framework of gain adaptive sliding mode control to deal with the attitude control problem of an unmanned aerial vehicle (UAV), which shows a strong robustness with respect to dynamical uncertainties and external disturbance. In the proposed method, an adaptive gain schedule scheme is proposed to deal with dynamical uncertainties while suppressing the chattering in the sliding mode control. First, the UAV model is introduced and its mathematical model is given. Then, the error is used as the state variable to design a stably converging sliding mode surface, and the gain adaptive super-twisting sliding mode (ASTSM) algorithm is used to design a UAV attitude controller that can converge in finite time, and the stability of the closed-loop UAV system is demonstrated by the Lyapunov’s second method. Finally, the efficiency of the proposed method is demonstrated through comparative simulations.http://xuebao.sjtu.edu.cn/article/2022/1006-2467/1006-2467-56-11-1453.shtmlunmanned aerial vehicle (uav)converge in finite timegain adaptive super-twisting sliding mode (astsm) |
| spellingShingle | ZHOU Qixian, WANG Yin, SUN Xuean Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory Shanghai Jiaotong Daxue xuebao unmanned aerial vehicle (uav) converge in finite time gain adaptive super-twisting sliding mode (astsm) |
| title | Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory |
| title_full | Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory |
| title_fullStr | Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory |
| title_full_unstemmed | Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory |
| title_short | Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory |
| title_sort | control of unmanned aerial vehicle based on gain adaptive super twisting sliding mode theory |
| topic | unmanned aerial vehicle (uav) converge in finite time gain adaptive super-twisting sliding mode (astsm) |
| url | http://xuebao.sjtu.edu.cn/article/2022/1006-2467/1006-2467-56-11-1453.shtml |
| work_keys_str_mv | AT zhouqixianwangyinsunxuean controlofunmannedaerialvehiclebasedongainadaptivesupertwistingslidingmodetheory |