Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter
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 th...
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2015-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2015/620357 |
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doaj-262ecc0fcee3414380d5f02bed6a52c72020-11-24T21:59:03ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472015-01-01201510.1155/2015/620357620357Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned HelicopterXing Fang0Aiguo Wu1Yujia Shang2Chunyan Du3School of Electrical Engineering and Automation, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin 300072, ChinaSchool of Electrical Engineering and Automation, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin 300072, ChinaSchool of Electrical Engineering and Automation, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin 300072, ChinaSchool of Electrical Engineering and Automation, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin 300072, ChinaThis 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.http://dx.doi.org/10.1155/2015/620357 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Xing Fang Aiguo Wu Yujia Shang Chunyan Du |
spellingShingle |
Xing Fang Aiguo Wu Yujia Shang Chunyan Du Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter Mathematical Problems in Engineering |
author_facet |
Xing Fang Aiguo Wu Yujia Shang Chunyan Du |
author_sort |
Xing Fang |
title |
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter |
title_short |
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter |
title_full |
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter |
title_fullStr |
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter |
title_full_unstemmed |
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter |
title_sort |
multivariable super twisting based robust trajectory tracking control for small unmanned helicopter |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2015-01-01 |
description |
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. |
url |
http://dx.doi.org/10.1155/2015/620357 |
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