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Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties

Jorge M. Arizaga, J. R. Noriega, L. A. Garcia-Delgado, and Herman Castañeda*
International Journal of Control, Automation, and Systems, vol. 19, no. 6, pp.2251-2259, 2021

Abstract : This paper addresses an adaptive super twisting control for a dual-rotor flight system subject to uncertainties. The system can perform vertical take-off and landing, roll and yaw movements. The dynamical model is described under the Euler-Lagrange approach, where a characterization of the thrust and the torque of the rotors is included. However, uncertainties such as friction and unmodeled dynamics remain. To overcome these problems, a class of adaptive sliding mode control is designed, which is robust to bounded uncertainties and external perturbations, offers reduced chattering, and not overestimate the control gain. Furthermore, the closed-loop stability is analyzed. Finally, simulation and experimental validation, and a comparison versus other standard control approaches illustrate the feasibility and usefulness of the proposed controller.

Keyword : Adaptive sliding mode control, flight systems, UAV, UAS.

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