Abstract
This article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control based on second-order sliding mode technique or also known as super-twisting algorithm in outdoor environments. This nonlinear control strategy guarantees the convergence in finite time to a desired path r(t) in the presence of external disturbances or uncertainties in the model affecting the appropriate behavior of our Quadrotor helicopter. For this purpose, a polynomial smooth curve trajectory is selected as a reference signal where the corresponding derivatives of the function are bounded. Moreover, we consider disturbances due to wind gusts acting on the aerial vehicle, and the reference signal is pre-programmed in an advanced autopilot system. The proposed solution consists of implementing a real-time control law based on super-twisting control using GPS measurements in order to obtain the position in the xy-plane to accomplish the desired trajectory. Simulation and experimental results of trajectory-tracking control are presented to demonstrate the performance and robustness of the proposed nonlinear controller in windy conditions.
Highlights
Vehicles or unmanned aerial systems (UAV or UAS) began to be manufactured and used during World War II to perform dangerous missions or to access places of difficult incursion for piloted aircraft
Unmanned aerial vehicles proliferate outside military bases: today, they are used for aerial photography, mapping or surveillance
The parameters k1, k2 and k3 that involve the errors in the second order sliding mode controller for each of the axes (x, y) are tuned in the following way: k3 > k2 > k1, where the value of k3 must necessarily be greater than the others because this value manipulates the velocity of convergence the error (e3), which is given by the orientation angle (θ, φ) depending on the axis that is being controlled, and it is a priority to stabilize the orientation of the vehicle to obtain adequate flight and execute the proposed trajectory tracking while the values of the gains g1 and g2 are tuned according to the parameters described in [32]
Summary
Vehicles or unmanned aerial systems (UAV or UAS) began to be manufactured and used during World War II to perform dangerous missions or to access places of difficult incursion for piloted aircraft. With these weapons of war, the armies could have an eye in the sky and watch over their enemies without being discovered. Unmanned aerial vehicles proliferate outside military bases: today, they are used for aerial photography, mapping or surveillance. They are gaining popularity as a scientific research tool. Extensive work has been done in recent years in the areas of mission planning and trajectory-tracking control [1,2,3,4]
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