Paiva, Enrique (Universidad Nacional de Asunción, Facultad de Ingeniería), Rodas, Jorge (Universidad Nacional de Asunción, Facultad de Ingeniería), Kali, Yassine (École Mohammadia d’Ingénieurs, University of Mohammed V), Gregor Recalde, Raul Igmar (Universidad Nacional de Asunción, Facultad de Ingeniería), Saad, Maarouf (Ecole de Technologie Superieure)

Robust Flight Control of a Tri-Rotor UAV Based on Modified Super-Twisting Algorithm

Scheduled for presentation during the Poster Session "Poster Papers" (WeP5), Wednesday, June 12, 2019, 13:00−18:00, Foyer

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper presents a robust nonlinear controller for finite-time high-accuracy position and attitude trajectory tracking of a tri-rotor unmanned aerial vehicle affected by disturbances. The proposed control method is a modified supertwisting algorithm with double closed-loop feedback regulation based on a proportional-integral-derivative sliding surface. This algorithm is one of the most effective algorithms of second order sliding mode due to its robustness, high precision, finitetime convergence even when the system trajectories are far from the sliding surface. The proposed controller also offers a chattering reduction or elimination, which is one of the main drawbacks of sliding mode controllers. Stability conditions are presented based on Lyapunov theory. Numerical simulations are performed on the considered tri-rotor to prove the efficiency of the proposed nonlinear control scheme.