Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

Venkateswara Rao, D.M.K.K.; DASARI, Mohan; HABIBI, Hamed; SANCHEZ LOPEZ, Jose Luis; Menon, Prathyush P.; Edwards, Christopher; VOOS, Holger

doi:10.1109/TCST.2024.3398293

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Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

Venkateswara Rao, D.M.K.K.; DASARI, Mohan; HABIBI, Hamed et al.

2024 • In IEEE Transactions on Control Systems Technology, 32 (6), p. 2126-2135

Peer Reviewed verified by ORBi

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https://hdl.handle.net/10993/63351

DOI
10.1109/TCST.2024.3398293

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Keywords :

adaptive super-twisting control; disturbance attenuation; finite-time convergence; uav; quadrotor vehicle; quadrotor unmanned aerial vehicle (UAV); Adaptation models; Adaptive super-twisting control; Control design; Convergence; Quad rotors; Disturbance attenuation; Uncertainty; Super twisting controls; Control and Systems Engineering; Electrical and Electronic Engineering

Abstract :

In this article, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle (UAV) to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is designed to determine the desired accelerations using the proposed controller and subsequently used to compute the desired orientation and angular rates. Finite-time convergence to the sliding surfaces and closed-loop system stability are analytically proven. Furthermore, the restrictive assumption on the upper bound of the disturbance is relaxed by designing a gain adaptation law and low-pass filtering of the estimated equivalent control. The proper selection of design parameters is discussed in detail. Finally, the effectiveness of the proposed method is evaluated by high-fidelity software-in-the-loop (SITL) simulations and validated by experimental studies.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

Venkateswara Rao, D.M.K.K. ; University of Luxembourg, Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, Esch-sur-Alzette, Luxembourg

DASARI, Mohan ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation

HABIBI, Hamed ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation

SANCHEZ LOPEZ, Jose Luis ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation

Menon, Prathyush P. ; University of Exeter Engineering Research Centre, Cooperative Robotics and Autonomous NEtworks (CRANE) Laboratory, Centre for Future Clean Mobility, Exeter, United Kingdom

Edwards, Christopher ; University of Exeter, Dynamics and Control Research Group, Cemps, Exeter, United Kingdom

VOOS, Holger ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation

External co-authors :

yes

Language :

English

Title :

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

Publication date :

November 2024

Journal title :

IEEE Transactions on Control Systems Technology

ISSN :

1063-6536

Publisher :

Institute of Electrical and Electronics Engineers, United States - New Jersey

Volume :

Issue :

Pages :

2126-2135

Peer reviewed :

Peer Reviewed verified by ORBi

Additional URL :

https://ieeexplore.ieee.org/abstract/document/10533861

European Projects :

H2020 - 101017258 - SESAME - Secure and Safe Multi-Robot Systems

Funders :

European Union
European Union’s Horizon 2020 project Secure and Safe Multi-Robot Systems
Department of Media, Communications and Digital Policy of State Ministry, Luxembourg
Engineering and Physical Sciences Research Council (EPSRC)-Global Challenges Research Fund (GCRF) “Emergency flood planning and management using unmanned aerial systems”

Funding text :

This work was supported in part by the Department of Media, Communications and Digital Policy of State Ministry, Luxembourg; and in part by the European Union's Horizon 2020 project Secure and Safe Multi-Robot Systems (SESAME) under Grant 101017258. The work of D. M. K. K. Venkateswara Rao, Prathyush P. Menon, and Christopher Edwards was supported by the Engineering and Physical Sciences Research Council (EPSRC)-Global Challenges Research Fund (GCRF) \"Emergency flood planning and management using unmanned aerial systems\" under Grant EP/P02839X/1.

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