Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory

doi:10.16183/j.cnki.jsjtu.2022.238

Abstract

Abstract:

In this paper, a nonlinear control method is proposed based on the framework of gain adaptive sliding mode control to deal with the attitude control problem of an unmanned aerial vehicle (UAV), which shows a strong robustness with respect to dynamical uncertainties and external disturbance. In the proposed method, an adaptive gain schedule scheme is proposed to deal with dynamical uncertainties while suppressing the chattering in the sliding mode control. First, the UAV model is introduced and its mathematical model is given. Then, the error is used as the state variable to design a stably converging sliding mode surface, and the gain adaptive super-twisting sliding mode (ASTSM) algorithm is used to design a UAV attitude controller that can converge in finite time, and the stability of the closed-loop UAV system is demonstrated by the Lyapunov’s second method. Finally, the efficiency of the proposed method is demonstrated through comparative simulations.

Key words: unmanned aerial vehicle (UAV), converge in finite time, gain adaptive super-twisting sliding mode (ASTSM)

CLC Number:

V249.122

ZHOU Qixian, WANG Yin, SUN Xuean. Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory[J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1453-1460.

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