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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 IEEE International Conference on Robotics and Automation (ICRA 2016) (pp. 2971-2977). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A98-C Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A99-B
Genre: Conference Paper

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

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 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.

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 Dates: 2016-05
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/ICRA.2016.7487462
BibTex Citekey: RajappaMBS2016
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Title: IEEE International Conference on Robotics and Automation (ICRA 2016)
Place of Event: Stockholm, Sweden
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Title: IEEE International Conference on Robotics and Automation (ICRA 2016)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2971 - 2977 Identifier: ISBN: 978-1-4673-8026-3