Desired tracking of delayed quadrotor UAV under model uncertainty and wind disturbance using adaptive super-twisting terminal sliding mode control.
ISA Trans
; 123: 455-471, 2022 Apr.
Article
em En
| MEDLINE
| ID: mdl-34130859
ABSTRACT
In this study, the fully-actuated dynamic equation of quad-rotor as a type of Unmanned Aerial Vehicles (UAVs) is considered in the existence of input-delay, model uncertainty and wind disturbance. Then, a super-twisting terminal sliding mode control approach is planned with the aim of the finite-time attitude and position tracking of quad-rotor UAV considering input-delay, model uncertainty and wind disturbance. The finite time convergence of the tracking trajectory of quad-rotor is proved by Lyapunov theory concept. When the upper bound of the modeling uncertainty and wind disturbance is supposed to be unknown, an adaptive super-twisting terminal sliding mode control is proposed. Therefore, the unknown bounds of the model uncertainty and wind disturbance affecting the quad-rotor UAV are estimated using the adaptive-tuning control laws. Finally, simulation outcomes and experimental verifications are provided to demonstrate the validation and success of planned control technique.
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1
Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
ISA Trans
Ano de publicação:
2022
Tipo de documento:
Article