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首頁> 外文會議>International Conference on Electrical Engineering, Computing Science and Automatic Control >Super Twisting vs Modified Super Twisting algorithm for altitude control of an Unmanned Aircraft System
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Super Twisting vs Modified Super Twisting algorithm for altitude control of an Unmanned Aircraft System

機譯：超級扭曲與改進(jìn)的超級扭曲算法在無人機系統(tǒng)中的高度控制

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摘要

This article proposes two control strategies to track a desired altitude of an Unmanned Aircraft System (UAS). These strategies are a Super-Twisting Sliding Mode Controller (Super Twisting-SMC) and a Modified Super-Twisting Sliding Mode Controller (Modified Super Twisting-SMC), both controllers are robusts and present a satisfactory effectiveness even under external disturbances. The Lyapunov Stability Theory is used to guarantee the asymptotic convergence of the altitude tracking error in both control laws. To demonstrate the performance of the proposed solutions, a set of simulation results and experimental results are presented. To carry out the experiments an holonomic quad-rotor UAS is used and their altitude is obtained by using a Motion Capture System. From the theoretical and experimental results it can be proved that the Modified Super Twisting-SMC presents a faster response than the Super Twisting-SMC.
機譯：本文提出了兩種控制策略來跟蹤無人機系統(tǒng)（UAS）的期望高度。這些策略是超級扭曲滑?？刂破鳎⊿uper Twisting-SMC）和改進(jìn)型超級扭曲滑?？刂破鳎∕odified Super Twisting-SMC），這兩種控制器都具有魯棒性，即使在外部干擾下也能提供令人滿意的效果。李雅普諾夫穩(wěn)定性理論用于保證兩種控制律中高度跟蹤誤差的漸近收斂。為了證明所提出的解決方案的性能，給出了一組仿真結(jié)果和實驗結(jié)果。為了進(jìn)行實驗，使用了完整的四轉(zhuǎn)子UAS，并通過運動捕捉系統(tǒng)獲得了它們的高度。從理論和實驗結(jié)果可以證明，改進(jìn)的超級扭曲SMC呈現(xiàn)出比超級扭曲SMC更快的響應(yīng)。

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