F. Muñoz, M. B. Estrada, I. González-Hernández, S. Salazar, R. Lozano
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引用次数: 12
摘要
本文提出了两种控制策略来跟踪无人机系统(UAS)的期望高度。这两种策略分别是超扭转滑模控制器(Super twistling - smc)和修正超扭转滑模控制器(Modified Super twistling - smc)，两种控制器都具有鲁棒性，即使在外部干扰下也能表现出令人满意的有效性。利用李雅普诺夫稳定性理论保证了两种控制律下高度跟踪误差的渐近收敛。为了证明所提出的解决方案的性能，给出了一组仿真结果和实验结果。为了进行实验，采用了一个完整的四旋翼无人机，并通过运动捕捉系统获得了它们的高度。理论和实验结果表明，改进的超捻- smc比超捻- smc具有更快的响应速度。
Super Twisting vs Modified Super Twisting algorithm for altitude control of an Unmanned Aircraft System
This article proposes two control strategies to track a desired altitude of an Unmanned Aircraft System (UAS). These strategies are a Super-Twisting Sliding Mode Controller (Super Twisting-SMC) and a Modified Super-Twisting Sliding Mode Controller (Modified Super Twisting-SMC), both controllers are robusts and present a satisfactory effectiveness even under external disturbances. The Lyapunov Stability Theory is used to guarantee the asymptotic convergence of the altitude tracking error in both control laws. To demonstrate the performance of the proposed solutions, a set of simulation results and experimental results are presented. To carry out the experiments an holonomic quad-rotor UAS is used and their altitude is obtained by using a Motion Capture System. From the theoretical and experimental results it can be proved that the Modified Super Twisting-SMC presents a faster response than the Super Twisting-SMC.
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