Quadrotor attitude controller based on super-twisting algorithm

Actuator saturation has an important influence on the stability of the quadrotor UAV (Unmanned Aerial Vehicle) control system. The characteristic of the control structure of the quadrotor UAV is that the inner loop control commanddirectlyaffects the actuator. Aiming at the problem of actuator saturation of quadrotor UAV attitude control, an attitudecontroller based on Conditioned Super-Twisting Algorithm (CSTA) is designed. The two sign functions in CSTAarereplaced by the hyperbolic tangent function, and the input of the hyperbolic tangent function is adjusted byagainparameter, thereby suppressing the chattering of controller. The experimental results show that the designed controllercan track the attitude command better than PID when the actuator is saturated. Compared with the CSTAalgorithm, thedesigned controller output chattering is significantly reduced.

[1]  Zhengyuan Hao,et al.  Adaptive Finite-Time Trajectory Tracking Control of Autonomous Vehicles That Experience Disturbances and Actuator Saturation , 2021, IEEE Intelligent Transportation Systems Magazine.

[2]  Weiwei Sun,et al.  Adaptive Neural Network Control for Full-State Constrained Robotic Manipulator With Actuator Saturation and Time-Varying Delays , 2021, IEEE Transactions on Neural Networks and Learning Systems.

[3]  Markus Reichhartinger,et al.  Conditioned Super-Twisting Algorithm for systems with saturated control action , 2020, Autom..

[4]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[5]  Yuanqing Xia,et al.  Adaptive Sliding Mode Control for Attitude Stabilization With Actuator Saturation , 2011, IEEE Transactions on Industrial Electronics.

[6]  Zongli Lin,et al.  Anti-windup design of output tracking systems subject to actuator saturation , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[7]  Guo Yi,et al.  Output feedback dynamic surface control for link manipulators with actuator saturation , 2015 .

[8]  WU Qing-xian,et al.  Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints , 2015 .

[9]  Peng Chen,et al.  Anti-windup and Multi-Mode PID Control of Yaw Movement for a Quad-Rotor UAV , 2015 .

[10]  Rastko R. Selmic,et al.  Neural network control of a class of nonlinear systems with actuator saturation , 2006, IEEE Transactions on Neural Networks.