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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2019

Robust Trajectory Tracking for Unmanned Aircraft Systems using a Nonsingular Terminal Modified Super-Twisting Sliding Mode Controller

Résumé

Precision trajectory tracking problem for Unmanned Aerial Systems (UAS) is addressed in this work. A novel algorithm that combines a Nonsingular Modified Super-Twisting Controller with a High Order Sliding Mode Observer to enable an aerial vehicle tracking a desired trajectory under the assumption that i) its translational velocities are not available and ii) there are unmodeled dynamics and external disturbances. The proposed Sliding Mode Controller is based on a nonlinear sliding mode surface that ensures that the position and velocity tracking errors of all system’s state variables converge to zero in finite time. Moreover, the proposed controller generates a continuous control signal eliminating the chattering phenomenon. Finally, simulation results and an extensive set of experiments are presented in order to illustrate the robustness and effectiveness of the proposed control strategy.
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Dates et versions

hal-01928186 , version 1 (23-11-2023)

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Filiberto Muñoz, Eduardo Espinoza, Iván González-Hernández, Sergio Salazar, Rogelio Lozano. Robust Trajectory Tracking for Unmanned Aircraft Systems using a Nonsingular Terminal Modified Super-Twisting Sliding Mode Controller. Journal of Intelligent and Robotic Systems, 2019, 93 (1-2), pp.55-72. ⟨10.1007/s10846-018-0880-y⟩. ⟨hal-01928186⟩
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