Multivariable super twisting based robust trajectory tracking control for small unmanned helicopter
type: Item
instance of: scholarly article
title: Multivariable super twisting based robust trajectory tracking control for small unmanned helicopter
zbMATH Open document ID: 1394.93207
DOI: 10.1155/2015/620357
author: Xing Fang
author: Yujia Shang
author: Ai-Guo Wu
author: Chunyan Du
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6926818
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/620357
OpenAlex ID: W1505895634
Wikidata QID: Q59119138
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description: scientific article; zbMATH DE number 6926818