From the Modified Smooth Sliding Control to the Super-Twisting Algorithm: UAV Trajectory Tracking Experimental Results

Serrantola, Wenderson Gustavo; Lizarralde, Fernando; Peixoto, Alessandro Jacoud

doi:10.1109/vss57184.2022.9902089

Cited by 1 publication

(2 citation statements)

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“…Recently, this strategy was generalized for plants with time-varying control gain and applied to the autonomous landing problem in a moving platform [32]. More recently, in [37] was presented a new SSC scheme with the averaging filter time constant being updated via the tracking error for a real UAV trajectory tracking application.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, a novel extension of the results of [37] is proposed. As the main contributions of the paper, we consider: (i) the development of the new (dynamic) SSC scheme, named Dynamic Smooth Sliding Control (DSSC), where the original fixed parameters of the SSC averaging filter and the predictor are replaced by functions that are updated via the tracking error; (ii) a complete closed-loop stability analysis of the DSSC algorithm for the considered class of linear plants with nonlinear disturbance; (iii) a connection of the synthesized DSSC during sliding mode with the Variable Gain Super-Twisting Algorithm (VGSTA) and the standard STA, by selecting appropriate functions in the DSSC; and (iv) experimental evaluation of the DSSC for trajectory tracking in a real-world scenario with the commercial DJI M600 Pro hexacopter.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking

Peixoto,

Serrantola,

Lizarralde

2024

IEEE Access

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This paper proposes a sliding mode controller with a smooth control signal for a class of linear plants with nonlinear input state-dependent disturbance. The proposed controller is obtained by allowing some constant parameters of the earlier Smooth Sliding Control (SSC) to vary as a function of the output tracking error and its time derivative, improving the control chattering alleviation in practical implementations. Furthermore, during the sliding mode, the new scheme can synthesize a range of controllers, such as fixed gain PI controllers and approximations of the Super-Twisting Algorithm (STA). A complete closed-loop stability analysis is provided, leading to global stability properties, exact output regulation, and practical output tracking. In addition, realistic simulation results with an Unmanned Aerial Vehicle (UAV) model, incorporating aerodynamic effects and internal closed-loop controllers, are obtained and validated via experiments with a commercial hexacopter.INDEX TERMS Sliding-Mode Control, Chattering Avoidance, Unmodelled Dynamics, Super-Twisting Algorithm (STA), Unmanned Aerial Vehicle (UAV).Additionally, beyond affecting UAV's dynamics by adding manipulators, UAV geometric parameters can be variable over time [30] and the pick-and-place task can generate mass variation [31], [32]. In [30], a Fast Terminal Sliding Mode Controller was applied to guarantee the flight stability and rapid convergence of the states in finite time with a reconfig-

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%