弹道
跟踪(教育)
控制理论(社会学)
计算机科学
控制(管理)
控制工程
工程类
人工智能
计算机视觉
心理学
物理
天文
教育学
作者
Kumar Abhinav,Shashi Ranjan Kumar
标识
DOI:10.1016/j.isatra.2024.07.024
摘要
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.
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