Coates, Erlend M. (Norwegian University of Science and Technology), Griffiths, Jenny Bogen (Norwegian University of Science and Technology), Johansen, Tor Arne (Norwegian University of Science and Technology)

Robust Reduced-Attitude Control of Fixed-Wing UAVs Using a Generalized Multivariable Super-Twisting Algorithm

Scheduled for presentation during the Regular Session "Control Design I" (ThA2), Thursday, June 17, 2021, 11:30−11:50, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

Operation of fixed-wing unmanned aerial vehicles (UAVs) outside their nominal operating conditions require autopilots that can effectively compensate for highly uncertain aerodynamics, and coupled disturbances due to turbulent winds. In this paper, we propose to use a generalized multivariable super-twisting algorithm to solve the robust attitude control problem for fixed-wing UAVs. A sliding surface is designed, based on geometric methods, to perform reduced-attitude tracking while simultaneously stabilizing a turn rate based on the coordinated-turn equation. The reduced-attitude representation evolves on the unit two-sphere and is independent of the yaw/heading angle. The resulting control design is lightweight, has no singularities, and can be used with standard hierarchical control architectures for fixed-wing UAVs. The efficacy of the proposed design is demonstrated in a simulation study with highly turbulent conditions.