Ibarra-Jimenez, Efrain (Heudiasyc UMR 7253, Université de Technologie de Compiègne), Castillo, Pedro (Unviersité de Technologie de Compiègne)

Nonlinear Super Twisting Algorithm for UAV Attitude Stabilization

Scheduled for presentation during the "Micro- and Mini- UAS - I" (ThA1), Thursday, June 15, 2017, 10:00−10:20, Salon E

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

Abstract

Keep at hover an aerial vehicle is one of the most important task to realize when working on UAVs. Once this task is solved, the user can easily give high-orders to move the vehicle. In this paper, a nonlinear super-twisting algorithm to stabilize the nonlinear attitude of a quadcopter is presented. The controller is based on the Singular Optimal Control (SOC) and the Lyapunov theory with the sliding mode technique. Its robustness with respect nonlinear and unknown uncertainties is demonstrated in the stability analysis. Simulations results are carried out to illustrate the well performance of the controllers in closed-loop system even in presence of this kind of disturbances. Main graphs corroborate this fact.