Quadrotor robust path tracking without velocity measurements using the generalized super-twisting control

Jesús Norberto Guerrero Tavares; Salvador Ortiz Santos; Jorge Luis Ortiz Solano

doi:10.33571/rpolitec.v13n25a9

Autores

Jesús Norberto Guerrero Tavares
Salvador Ortiz Santos
Jorge Luis Ortiz Solano Universidad Francisco de Paula Santander

DOI:

https://doi.org/10.33571/rpolitec.v13n25a9

Palavras-chave:

Quadrotor, Generalized Super Twisting, Sliding mode control, Observer, non-linear control

Resumo

This paper presents a nonlinear control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle under perturbations. This strategy is based on the Generalized Super-Twisting Algorithm (GSTA); it means the second order sliding mode technique, which is able to ensure robustness with respect to modeling errors and bounded external disturbances due to the added extra linear correction terms. The controller goal is to achieve suitable path tracking of desired absolute positions and yaw angle while keeping the stability of the pitch and roll angle, in spite of the presence of disturbances and the handling of all system nonlinearities. In this work, a scenario in which velocities measurements are not available and are estimated by the Generalized Super-Twisting Observer is considered. Finally, the simulation results are also provided in order to illustrate the performances of the proposed controller.

Métricas do artigo

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Biografia do Autor

Jesús Norberto Guerrero Tavares

M. en C. en instrumentación y control automático, Centro de investigación y de estudios avanzados del Instituto Politécnico Nacional (Cinvestav-IPN), México. Correo electrónico: jguerrero@ctrl.cinvestav.mx

Jorge Luis Ortiz Solano, Universidad Francisco de Paula Santander

Estudiante de Ingeniería en Electromecánica, miembro del Semillero de Investigación en Mecatrónica Aplicada-SIMAP, Universidad Francisco de Paula Santander, Colombia, correo electrónico: jorgeluisos@ufps.edu.co.

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