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Output feedback adaptive super twisting sliding mode control for quadrotor UAVs

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Abstract

In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.

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Data Availability

The data that support the findings of this study are available on request from the corresponding author.

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Authors and Affiliations

  1. École Centrale de Nantes - LS2N, UMR 6004 CNRS, 44300, Nantes, France

    Oscar Salas-Peña

  2. Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Nuevo León, 66451, San Nicolás de Los Garza, Mexico

    Jesus DeLeón-Morales & Susana V. Gutiérrez-Martínez

Authors
  1. Oscar Salas-Peña
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  2. Jesus DeLeón-Morales
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  3. Susana V. Gutiérrez-Martínez
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Correspondence to Oscar Salas-Peña.

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Salas-Peña, O., DeLeón-Morales, J. & Gutiérrez-Martínez, S.V. Output feedback adaptive super twisting sliding mode control for quadrotor UAVs. Control Theory Technol. 22, 92–105 (2024). https://doi.org/10.1007/s11768-023-00195-2

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  • DOI: https://doi.org/10.1007/s11768-023-00195-2

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