Quadrotor attitude controller based on super-twisting algorithm

Renji Li; Zhiyuan Chang; Ke Li; Yanhua Shao; Yin Liang; Hongyu Chu

doi:10.1117/12.2640385

1 August 2022 Quadrotor attitude controller based on super-twisting algorithm

Renji Li, Zhiyuan Chang, Ke Li, Yanhua Shao, Yin Liang, Hongyu Chu

Proceedings Volume 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022); 122573C (2022) https://doi.org/10.1117/12.2640385
Event: 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 2022, Guangzhou, China

Abstract

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.

Citation Download Citation

Renji Li, Zhiyuan Chang, Ke Li, Yanhua Shao, Yin Liang, and Hongyu Chu "Quadrotor attitude controller based on super-twisting algorithm", Proc. SPIE 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 122573C (1 August 2022); https://doi.org/10.1117/12.2640385

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