Abstract
In this paper we present a robust quadrotor controller for tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using the recently proposed gain adaptation law [1], [2], which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties. The controller design is based on the regular form of the quadrotor dynamics, without separation in two nested control loops for position and attitude. The controller is further extended by a feedforward dynamic inversion control that reduces the effort of the sliding mode controller. The higher order quadrotor dynamic model and proposed controller are validated using a SimMechanics physical simulation with initial error, parameter uncertainties, noisy measurements and external perturbations.
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2971-2977 |
| Number of pages | 7 |
| Volume | 2016-June |
| ISBN (Electronic) | 9781467380263 |
| DOIs | |
| Publication status | Published - 2016 Jun 8 |
| Event | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: 2016 May 16 → 2016 May 21 |
Other
| Other | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
|---|---|
| Country | Sweden |
| City | Stockholm |
| Period | 16/5/16 → 16/5/21 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Adaptive Super Twisting Controller for a quadrotor UAV. / Rajappa, Sujit; Masone, Carl; Bulthoff, Heinrich; Stegagno, Paolo.
2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June Institute of Electrical and Electronics Engineers Inc., 2016. p. 2971-2977 7487462.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive Super Twisting Controller for a quadrotor UAV
AU - Rajappa, Sujit
AU - Masone, Carl
AU - Bulthoff, Heinrich
AU - Stegagno, Paolo
PY - 2016/6/8
Y1 - 2016/6/8
N2 - In this paper we present a robust quadrotor controller for tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using the recently proposed gain adaptation law [1], [2], which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties. The controller design is based on the regular form of the quadrotor dynamics, without separation in two nested control loops for position and attitude. The controller is further extended by a feedforward dynamic inversion control that reduces the effort of the sliding mode controller. The higher order quadrotor dynamic model and proposed controller are validated using a SimMechanics physical simulation with initial error, parameter uncertainties, noisy measurements and external perturbations.
AB - In this paper we present a robust quadrotor controller for tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using the recently proposed gain adaptation law [1], [2], which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties. The controller design is based on the regular form of the quadrotor dynamics, without separation in two nested control loops for position and attitude. The controller is further extended by a feedforward dynamic inversion control that reduces the effort of the sliding mode controller. The higher order quadrotor dynamic model and proposed controller are validated using a SimMechanics physical simulation with initial error, parameter uncertainties, noisy measurements and external perturbations.
UR - http://www.scopus.com/inward/record.url?scp=84977502967&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84977502967&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487462
DO - 10.1109/ICRA.2016.7487462
M3 - Conference contribution
AN - SCOPUS:84977502967
VL - 2016-June
SP - 2971
EP - 2977
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
ER -