HAMADI, Hussein (Université de Technologie de Compiègne), Lussier, Benjamin (University of Technology of Compiègne), Fantoni, Isabelle (CNRS), Francis, Clovis (Lebanese University), shraim, hassan (Consulting Company)

Observer-Based Super Twisting Controller Robust to Wind Perturbation for Multirotor UAV

Scheduled for presentation during the Regular Session "Fault Diagnosis, Accommodation and Fault-Tolerant Control" (WeC1), Wednesday, June 12, 2019, 17:20−17:40, Heritage B

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 26, 2024

Abstract

Control design for multi rotors UAV is an important challenge for engineers and scientists, due to the fact that the standard configurations are under-actuated, highly nonlinear, and unstable systems. In this paper, a wind force compensation strategy is proposed for a quadrotor. This strategy relies on a second order sliding mode controller based on the super twisting algorithm (STA) with an observer. Second order sliding mode technique ensures robustness to external disturbances and time varying, parametric and nonlinear uncertainties. Integration of an observer in the closed-loop system is needed for states reconstruction and the estimation of unknown external forces such as the wind effect. The effectiveness of the proposed strategy is compared to an adaptative gain controller through simulation and validated in real experiments on a quadrotor.