Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles

Hoang, VT; Phung, MD; Ha, QP

Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles

Hoang, VT

Phung, MD

Ha, QP

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Publication Type:: Conference Proceeding
Citation:: 2017 Asian Control Conference, ASCC 2017, 2018, 2018-January pp. 671 - 676
Issue Date:: 2018-02-07

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Field	Value	Language
dc.contributor.author	Hoang, VT https://orcid.org/0000-0001-5557-5571	en_US
dc.contributor.author	Phung, MD https://orcid.org/0000-0002-8870-5114	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.available	2020-05-25T19:28:00Z
dc.date.issued	2018-02-07	en_US
dc.identifier.citation	2017 Asian Control Conference, ASCC 2017, 2018, 2018-January pp. 671 - 676	en_US
dc.identifier.isbn	9781509015733	en_US
dc.identifier.uri	http://hdl.handle.net/10453/124892
dc.description.abstract	© 2017 IEEE. This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling. An adaptive twisting sliding mode control algorithm is then developed with the objective of controlling the quadcopter to track desired attitudes under various conditions. For this, the twisting sliding mode control law is modified with a proposed gain adaptation scheme to improve the control transient and tracking performance. Extensive simulation studies and comparisons with experimental data have been carried out for a Solo quadcopter. The results show that the proposed control scheme can achieve strong robustness against disturbances while is adaptable to parametric variations.	en_US
dc.relation.ispartof	2017 Asian Control Conference, ASCC 2017	en_US
dc.relation.isbasedon	10.1109/ASCC.2017.8287250	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2018-January	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2018-January	en_US

Abstract:

© 2017 IEEE. This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling. An adaptive twisting sliding mode control algorithm is then developed with the objective of controlling the quadcopter to track desired attitudes under various conditions. For this, the twisting sliding mode control law is modified with a proposed gain adaptation scheme to improve the control transient and tracking performance. Extensive simulation studies and comparisons with experimental data have been carried out for a Solo quadcopter. The results show that the proposed control scheme can achieve strong robustness against disturbances while is adaptable to parametric variations.

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http://hdl.handle.net/10453/124892