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Adaptive Super Twisting Controller for a Quadrotor UAV

MPS-Authors
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Rajappa,  S
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Masone,  C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Stegagno,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Rajappa, S., Masone, C., Bülthoff, H., & Stegagno, P. (2016). Adaptive Super Twisting Controller for a Quadrotor UAV. In IEEE International Conference on Robotics and Automation (ICRA 2016) (pp. 2971-2977). Piscataway, NJ, USA: IEEE.


Cite as: https://hdl.handle.net/21.11116/0000-0000-7A98-C
Abstract
In this paper we present a robust quadrotor controller for tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using the recently proposed gain adaptation law [1], [2], which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties. The controller design is based on the regular form of the quadrotor dynamics, without separation in two nested control loops for position and attitude. The controller is further extended by a feedforward dynamic inversion control that reduces the effort of the sliding mode controller. The higher order quadrotor dynamic model and proposed controller are validated using a SimMechanics physical simulation with initial error, parameter uncertainties, noisy measurements and external perturbations.