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.
Quadrotor attitude controller based on super-twisting algorithm
4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022) ; 2022 ; Guangzhou,China
Proc. SPIE ; 12257
2022-08-01
Conference paper
Electronic Resource
English
Quadrotor attitude controller based on super-twisting algorithm
British Library Conference Proceedings | 2022
|SAGE Publications | 2021
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