Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter

Xing Fang, Aiguo Wu, Yujia Shang and Chunyan Du

Mathematical Problems in Engineering, 2015, vol. 2015, 1-13

Abstract:

This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC) is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:620357

DOI: 10.1155/2015/620357

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