Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)(2015)

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摘要
In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used to measure the altitude (Barometer and GPS) do not provide the altitude velocity. The proposed strategy was designed by using a Super-Twisting controller based on a High Order Sliding Mode Observer. A comprehensive stability analysis based on the Lyapunov Stability Theory guarantees the convergence of the tracking error in finite time. To demonstrate the performance of the proposed solution, a set of simulation results are presented.
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关键词
altitude control,unmanned aircraft system,super-twisting controller,high order sliding mode observer,altitude tracking problem,UAS,barometer,GPS,altitude velocity,Lyapunov stability theory,tracking error convergence
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