Abhinav Kumar, Kumar Shashi Ranjan
Department of Aerospace Engineering, IIT Bombay, Powai, Mumbai, 400076, Maharashtra, India.
ISA Trans. 2024 Oct;153:41-56. doi: 10.1016/j.isatra.2024.07.024. Epub 2024 Jul 23.
This paper proposes a novel controller design using adaptation based modified super twisting control to facilitate trajectory tracking and hovering maneuvers for the quadrotor. The controller gains of the existing modified super twisting control require bounds on the disturbance for trajectory tracking and hovering of the quadrotor. In this paper, the controller gains are adapted using the proposed dynamic adaptation law without knowing the actual disturbance or their upper bounds. The controller is designed within a nonlinear framework without performing linearization of quadrotor dynamics, which enables the proposed controller to remain effective even when the states deviate significantly from their nominal values. The performance of trajectory tracking and hovering of the quadrotor in the presence of disturbance is demonstrated using numerical simulations. In order to assess the effectiveness of the controller, the performance of the adaptation based modified super twisting control is compared to the existing modified super twisting control, and the proposed controller outperforms the existing one.
本文提出了一种基于自适应的改进超扭曲控制的新型控制器设计，以促进四旋翼飞行器的轨迹跟踪和悬停操作。现有的改进超扭曲控制的控制器增益要求对四旋翼飞行器轨迹跟踪和悬停的干扰进行界定。在本文中，使用所提出的动态自适应律来调整控制器增益，而无需知道实际干扰或其上限。该控制器是在非线性框架内设计的，无需对四旋翼动力学进行线性化，这使得所提出的控制器即使在状态显著偏离其标称值时仍能保持有效。通过数值模拟展示了四旋翼飞行器在存在干扰情况下的轨迹跟踪和悬停性能。为了评估控制器的有效性，将基于自适应的改进超扭曲控制的性能与现有的改进超扭曲控制进行了比较，结果表明所提出的控制器优于现有控制器。
