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Authors: Yassine Kali 1 ; Jorge Rodas 2 ; Maarouf Saad 1 ; Khalid Benjelloun 3 ; Magno Ayala 2 and Raul Gregor 2

Affiliations: 1 École de Technologie Supérieure, Quebec University, Montreal, QC H3C 1K3 and Canada ; 2 Laboratory of Power and Control Systems, Facultad de Ingeniería, Universidad Nacional de Asunción and Paraguay ; 3 A2I Laboratory, Ecole Mohammadia d’Ingénieurs, Mohammed V University, Rabat and Morocco

Keyword(s): Altitude Tracking, Attitude Tracking, Finite-time Convergence, Lyapunov, Unmanned Aerial Vehicle, Second Order Sliding Mode, Super-twisting Algorithm, Uncertainties.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Analysis and Control of Hybrid Dynamical Systems ; Nonlinear Signals and Systems ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents the problem of robust altitude and attitude trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV) based on a finite-time second order sliding mode control algorithm. The chosen algorithm is a modified super-twisting control with double closed-loop feedback regulation that provides fast finite-time convergence even when the system trajectories are far from the sliding surface, robustness against a wide class of uncertainties and disturbances. Moreover, this algorithm eliminates the major disadvantage of the classical sliding mode, the well-known chattering phenomenon. The stability analysis of the closed-loop system and the convergence time are given based on a strong Lyapunov function. To show the effectiveness of the used method, simulation results of different scenarios are presented for the considered tri-rotor UAV.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Kali, Y.; Rodas, J.; Saad, M.; Benjelloun, K.; Ayala, M. and Gregor, R. (2018). Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 435-442. DOI: 10.5220/0006861904350442

@conference{icinco18,
author={Yassine Kali. and Jorge Rodas. and Maarouf Saad. and Khalid Benjelloun. and Magno Ayala. and Raul Gregor.},
title={Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2018},
pages={435-442},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006861904350442},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode
SN - 978-989-758-321-6
IS - 2184-2809
AU - Kali, Y.
AU - Rodas, J.
AU - Saad, M.
AU - Benjelloun, K.
AU - Ayala, M.
AU - Gregor, R.
PY - 2018
SP - 435
EP - 442
DO - 10.5220/0006861904350442
PB - SciTePress