Abstract
Quadrotor unmanned aerial vehicle is a nonlinear system of 6-degree-of-freedom motion. In order to handle the nonlinearity that causes undesirable behavior, robustness of flight control has been studied. In this work, we consider the combination of higher order sliding mode control and nonlinear time-varying sliding surface for robustness and accuracy in tracking. An adaptive super-twisting control, a second-order sliding mode control, is utilized to compensate for the uncertainty and perturbation of a quadrotor system. A time-varying sliding surface is designed with a nonlinear function to provide varying properties of closed-loop dynamics and to improve control performance with energy consumption reduction. The proposed control system performance including energy consumption was compared among nonlinear adaptive super-twisting control algorithm, linear adaptive super-twisting control algorithm, and linear super twisting controllers, without and under wind disturbance. The robustness and effectiveness of the proposed control system are demonstrated by several times simulation and experiment using a quadrotor helicopter test bed.
Highlights
Quadrotor helicopter or quadcopter unmanned aerial vehicles (UAVs) have attracted research interest due to its wide range of applications such as navigation task[1,2,3] and recently physical interaction.[4,5] the quadcopter requires robust control performance under aerodynamic forces, gyroscopic effect, variation of altitude, and wind payload and its resources and the limited operational time due to power supply capacity
The disturbance magnitude is proportional to the distance between the quadcopter and the fan
The variable disturbance conditions are considered along the trajectory from B to C and C to B, where it takes the maximum at C
Summary
Quadrotor helicopter or quadcopter unmanned aerial vehicles (UAVs) have attracted research interest due to its wide range of applications such as navigation task (surveillance, mapping, rescuing, etc.)[1,2,3] and recently physical interaction (environment and manipulation of object).[4,5] the quadcopter requires robust control performance under aerodynamic forces, gyroscopic effect, variation of altitude, and wind payload and its resources and the limited operational time due to power supply capacity. The characteristic of quadcopter dynamics is a nonlinear system and coupled; it requires a robust controller to compensate the uncertainties and external disturbances and consider energy consumption. Most studies on reducing energy consumption for a quadcopter discuss the design of the quadcopter’s platform or mechanical parts. The effect of a robust control algorithm for energy saving is addressed in this study
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