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...

Full description

Bibliographic Details
Main Authors: Xing Fang, Aiguo Wu, Yujia Shang, Chunyan Du
Format: Article
Language:English
Published: Hindawi Limited 2015-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2015/620357
id doaj-262ecc0fcee3414380d5f02bed6a52c7
record_format Article
spelling 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
work_keys_str_mv AT xingfang multivariablesupertwistingbasedrobusttrajectorytrackingcontrolforsmallunmannedhelicopter
AT aiguowu multivariablesupertwistingbasedrobusttrajectorytrackingcontrolforsmallunmannedhelicopter
AT yujiashang multivariablesupertwistingbasedrobusttrajectorytrackingcontrolforsmallunmannedhelicopter
AT chunyandu multivariablesupertwistingbasedrobusttrajectorytrackingcontrolforsmallunmannedhelicopter
_version_ 1725849439863570432