ICUAS'17 Paper Abstract

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Paper WeB3.3

MUÑOZ PALACIOS, FILIBERTO (UNIVERSIDAD POLITÉCNICA DE PACHUCA), Bonilla, Moises E. (CINVESTAV-IPN), Espinoza Quesada, Eduardo Steed (Universidad Politécnica de Pachuca), Gonzalez-Hernandez, Ivan (Cinvestav - IPN), Salazar, Sergio (UMI LAFMIA CINVESTAV), Lozano, Rogelio (University of Technology of Compiègne)

Robust Trajectory Tracking for Unmanned Aircraft Systems Using High Order Sliding Mode Controllers-Observers

Scheduled for presentation during the "Control Architecture - II" (WeB3), Wednesday, June 14, 2017, 15:40−16:00, Salon CD

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Control Architectures, Micro- and Mini- UAS, Simulation

Abstract

This article deals with the design of a novel algorithm that combines a Modified Super-Twisting Controller with a High Order Sliding Mode Observer to enable an aerial vehicle to track a trajectory under the assumption that i) its translational velocities are unavailable and ii) there are unmodeled dynamics and external disturbances. We present a mathematical justification that ensures the existence of a second-order sliding motion for the combination Controller- Observer. In order to demonstrate the effectiveness of the proposed solutions, a set of simulation results are presented.

 

 

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