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  Adaptive Super Twisting Controller for a Quadrotor UAV

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

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Rajappa, S1, 2, 3, Autor           
Masone, C1, 2, 3, Autor           
Bülthoff, HH1, 2, 3, 4, Autor           
Stegagno, P1, 2, 3, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
4Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              

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 Zusammenfassung: 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.

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 Datum: 2016-05
 Publikationsstatus: Erschienen
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 Identifikatoren: DOI: 10.1109/ICRA.2016.7487462
BibTex Citekey: RajappaMBS2016
 Art des Abschluß: -

Veranstaltung

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Titel: IEEE International Conference on Robotics and Automation (ICRA 2016)
Veranstaltungsort: Stockholm, Sweden
Start-/Enddatum: 2016-05-16 - 2016-05-21

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Titel: 2016 IEEE International Conference on Robotics and Automation (ICRA)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 2971 - 2977 Identifikator: ISBN: 978-1-4673-8026-3