Gonzalez-Hernandez, Ivan (Cinvestav - IPN), Salazar, Sergio (UMI LAFMIA CINVESTAV), MUÑOZ PALACIOS, FILIBERTO (UNIVERSIDAD POLITÉCNICA DE PACHUCA), Lozano, Rogelio (University of Technology of Compiègne)

Super-Twisting Control Scheme for a Miniature Quadrotor Aircraft: Application to Trajectory-Tracking Problem

Scheduled for presentation during the "Path Planning - V" (FrB3), Friday, June 16, 2017, 14:05−14:25, 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 26, 2024

Abstract

This article addresses the trajectory-tracking problem for a Quadrotor aircraft system using a super-twisting technique in real-time application. This strategy ensures the convergence in finite time to a desired programmed trajectory under bounded external perturbations such as wind gusts. The proposed solution consists of implementing a real-time strategy based on super-twisting control using GPS measurements in order to obtain the horizontal position to accomplish the desired trajectory. A Lyapunov theory is used in order to demonstrate the stability of the system in finite time. Simulation results and experimental autonomous trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm under external disturbances affecting the aerial vehicle.