{"title":"Adaptive super-twisting trajectory tracking control for an unmanned aerial vehicle under gust winds","authors":"Lei Cui, Ruizhi Zhang, Hongjiu Yang, Zhiqiang Zuo","doi":"10.1016/j.ast.2021.106833","DOIUrl":null,"url":null,"abstract":"<div><p><span>In this paper, an adaptive control strategy is investigated on trajectory tracking for an unmanned aerial vehicle<span> with four rotors under gust winds. There exist external disturbances in horizontal positions for the reason of the gust winds which are estimated by an adaptive super-twisting </span></span>extended state observer<span>. An adaptive super-twisting sliding mode controller<span> is designed to track a desired trajectory for the unmanned aerial vehicle with four rotors. Finite-time convergency is shown for the adaptive super-twisting extended state observer and the adaptive super-twisting sliding mode controller. Effectiveness of the adaptive control strategy is shown in experimental results for the unmanned aerial vehicle with four rotors under gust winds.</span></span></p></div>","PeriodicalId":50955,"journal":{"name":"Aerospace Science and Technology","volume":"115 ","pages":"Article 106833"},"PeriodicalIF":5.8000,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/j.ast.2021.106833","citationCount":"23","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Aerospace Science and Technology","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1270963821003436","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 23
Abstract
In this paper, an adaptive control strategy is investigated on trajectory tracking for an unmanned aerial vehicle with four rotors under gust winds. There exist external disturbances in horizontal positions for the reason of the gust winds which are estimated by an adaptive super-twisting extended state observer. An adaptive super-twisting sliding mode controller is designed to track a desired trajectory for the unmanned aerial vehicle with four rotors. Finite-time convergency is shown for the adaptive super-twisting extended state observer and the adaptive super-twisting sliding mode controller. Effectiveness of the adaptive control strategy is shown in experimental results for the unmanned aerial vehicle with four rotors under gust winds.
期刊介绍：
Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to:
• The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites
• The control of their environment
• The study of various systems they are involved in, as supports or as targets.
Authors are invited to submit papers on new advances in the following topics to aerospace applications:
• Fluid dynamics
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• Acoustics
• Optics
• Electromagnetism and radar
• Signal and image processing
• Information processing
• Data fusion
• Decision aid
• Human behaviour
• Robotics and intelligent systems
• Complex system engineering.
Etc.
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