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Observer-based super twisting design: A comparative study on quadrotor altitude control.

José Angel Cano González1, Oscar Salas-Peña1, Jesus De León-Morales1

  • 1Department of Mechatronics Engineering, University of Nuevo Leon, Mexico; Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico.

ISA Transactions
|October 13, 2020
PubMed
Summary

This study presents a new control system for nonlinear systems, improving quad-rotor altitude control. The proposed method offers superior performance with reduced control effort compared to existing techniques.

Keywords:
Altitude controlQuadrotorSliding Mode ControlSuper twisting

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Nonlinear Dynamics

Background:

  • Nonlinear systems present significant control challenges.
  • Accurate state estimation is crucial for effective control.
  • Quad-rotor aircraft require robust altitude control for stable flight.

Purpose of the Study:

  • To design a continuous super twisting control combined with a high-order sliding mode observer.
  • To analyze the closed-loop stability of the proposed control-observer scheme.
  • To evaluate the performance and control effort of the new methodology for quad-rotor altitude control.

Main Methods:

  • Utilized a continuous super twisting control algorithm.
  • Implemented a high-order sliding mode observer for state estimation.
  • Employed Lyapunov analysis for closed-loop stability.
  • Conducted numerical simulations and experimental validation on a quad-rotor aircraft.

Main Results:

  • The proposed control-observer scheme ensures closed-loop stability.
  • Sufficient conditions for convergence and gain selection were established.
  • Demonstrated superior performance in quad-rotor altitude control.
  • Achieved significantly less control effort compared to literature approaches.

Conclusions:

  • The developed control-observer methodology is effective for nonlinear systems.
  • The approach provides robust and efficient altitude control for quad-rotors.
  • The method offers a promising alternative to existing control strategies, requiring less control effort.