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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Quadrotor attitude controller based on super-twisting algorithm


    Contributors:
    Li, Renji (author) / Chang, Zhiyuan (author) / Li, Ke (author) / Shao, Yanhua (author) / Liang, Yin (author) / Chu, Hongyu (author)

    Conference:

    4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022) ; 2022 ; Guangzhou,China


    Published in:

    Proc. SPIE ; 12257


    Publication date :

    2022-08-01





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Quadrotor attitude controller based on super-twisting algorithm

    Li, Renji / Chang, Zhiyuan / Li, Ke et al. | British Library Conference Proceedings | 2022


    Attitude trajectory tracking of quadrotor UAV using super-twisting observer-based adaptive controller

    Chen, Ai-Jun / Sun, Ming-Jian / Wang, Zhen-Hua et al. | SAGE Publications | 2021



    Nonlinear super twisting algorithm for UAV attitude stabilization

    Ibarra, Efrain / Castillo, Pedro | IEEE | 2017