Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft
This article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control based on second-order sliding mode technique or also known as <i>super-twisting algorithm&l...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/6/2/36 |
| _version_ | 1797481030809026560 |
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| author | Iván González-Hernández Sergio Salazar Rogelio Lozano Oscar Ramírez-Ayala |
| author_facet | Iván González-Hernández Sergio Salazar Rogelio Lozano Oscar Ramírez-Ayala |
| author_sort | Iván González-Hernández |
| collection | DOAJ |
| description | This article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control based on second-order sliding mode technique or also known as <i>super-twisting algorithm</i> in outdoor environments. This nonlinear control strategy guarantees the convergence in finite time to a desired path <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>r</mi><mo>(</mo><mi>t</mi><mo>)</mo></mrow></semantics></math></inline-formula> in the presence of external disturbances or uncertainties in the model affecting the appropriate behavior of our Quadrotor helicopter. For this purpose, a polynomial smooth curve trajectory is selected as a reference signal where the corresponding derivatives of the function are bounded. Moreover, we consider disturbances due to wind gusts acting on the aerial vehicle, and the reference signal is pre-programmed in an advanced autopilot system. The proposed solution consists of implementing a real-time control law based on super-twisting control using GPS measurements in order to obtain the position in the xy-plane to accomplish the desired trajectory. Simulation and experimental results of trajectory-tracking control are presented to demonstrate the performance and robustness of the proposed nonlinear controller in windy conditions. |
| first_indexed | 2024-03-09T22:08:38Z |
| format | Article |
| id | doaj.art-9cf9ba6a94d6489f97e61c24827df4ae |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-09T22:08:38Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-9cf9ba6a94d6489f97e61c24827df4ae2023-11-23T19:35:49ZengMDPI AGDrones2504-446X2022-01-01623610.3390/drones6020036Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor AircraftIván González-Hernández0Sergio Salazar1Rogelio Lozano2Oscar Ramírez-Ayala3UMI-LAFMIA 3175 CNRS, Cinvestav, Mexico City 07360, MexicoUMI-LAFMIA 3175 CNRS, Cinvestav, Mexico City 07360, MexicoUMI-LAFMIA 3175 CNRS, Cinvestav, Mexico City 07360, MexicoUMI-LAFMIA 3175 CNRS, Cinvestav, Mexico City 07360, MexicoThis article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control based on second-order sliding mode technique or also known as <i>super-twisting algorithm</i> in outdoor environments. This nonlinear control strategy guarantees the convergence in finite time to a desired path <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>r</mi><mo>(</mo><mi>t</mi><mo>)</mo></mrow></semantics></math></inline-formula> in the presence of external disturbances or uncertainties in the model affecting the appropriate behavior of our Quadrotor helicopter. For this purpose, a polynomial smooth curve trajectory is selected as a reference signal where the corresponding derivatives of the function are bounded. Moreover, we consider disturbances due to wind gusts acting on the aerial vehicle, and the reference signal is pre-programmed in an advanced autopilot system. The proposed solution consists of implementing a real-time control law based on super-twisting control using GPS measurements in order to obtain the position in the xy-plane to accomplish the desired trajectory. Simulation and experimental results of trajectory-tracking control are presented to demonstrate the performance and robustness of the proposed nonlinear controller in windy conditions.https://www.mdpi.com/2504-446X/6/2/36super-twisting controllerrobust trajectory-tracking controlsecond order sliding moderobust control |
| spellingShingle | Iván González-Hernández Sergio Salazar Rogelio Lozano Oscar Ramírez-Ayala Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft Drones super-twisting controller robust trajectory-tracking control second order sliding mode robust control |
| title | Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft |
| title_full | Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft |
| title_fullStr | Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft |
| title_full_unstemmed | Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft |
| title_short | Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft |
| title_sort | real time improvement of a trajectory tracking control based on super twisting algorithm for a quadrotor aircraft |
| topic | super-twisting controller robust trajectory-tracking control second order sliding mode robust control |
| url | https://www.mdpi.com/2504-446X/6/2/36 |
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