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Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties

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  • Robot and Applications
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Abstract

This paper addresses an adaptive super twisting control for a dual-rotor flight system subject to uncertainties. The system can perform vertical take-off and landing, roll and yaw movements. The dynamical model is described under the Euler-Lagrange approach, where a characterization of the thrust and the torque of the rotors is included. However, uncertainties such as friction and unmodeled dynamics remain. To overcome these problems, a class of adaptive sliding mode control is designed, which is robust to bounded uncertainties and external perturbations, offers reduced chattering, and not overestimate the control gain. Furthermore, the closed-loop stability is analyzed. Finally, simulation and experimental validation, and a comparison versus other standard control approaches illustrate the feasibility and usefulness of the proposed controller.

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Authors and Affiliations

  1. Tecnologico de Monterrey, School of Sciences and Engineering, Monterrey, N.L., 64849, Mexico

    Jorge M. Arizaga & Herman Castañeda

  2. Universidad de Sonora, Departamento de Investigacion en Fisica, Hermosillo, Sonora, 83000, Mexico

    Jose R. Noriega & L. A. Garcia-Delgado

Authors
  1. Jorge M. Arizaga
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  2. Jose R. Noriega
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  3. L. A. Garcia-Delgado
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  4. Herman Castañeda
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Corresponding author

Correspondence to Herman Castañeda.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

The authors thank to CONACYT, Tecnologico de Monterrey and Universidad de Sonora for support through scholarship to develop this project.

Jorge M. Arizaga received his B.Sc. degree in electronic technology engineering in 2014, an M.Sc. in electronics in 2018, both degrees from Universidad de Sonora, in Hermosillo, Mexico. He is currently pursuing his research as a Ph.D. student at Tecnologico de Monterrey, in Monterrey, Mexico, at the School of Engineering and Sciences. His research interests are mainly focused on robotics, robust control and UAVs.

J. R. Noriega received his B.Sc. degree on industrial engineering and electronics from Instituto Tecnologico de Hermosillo, in Hermosillo, Mexico in 1989 and a Ph.D. degree on advanced control techniques, from University of Manchester, Manchester England in 1997. He has been a member of faculty at Universidad de Sonora since January 1998. From 2000 up to 2007 he worked as first head and a founder of the Electronic Technology Program. From 2009 to 2010 he was a visiting professor with the Flexible Electronics Group at The University of Texas at Dallas. From 2010 up to 2013 he was a research scientist at University of Texas at Tyler. Since 2013, he has worked as faculty at University of Sonora. His research interests are adaptive control, modeling and control of nonlinear systems using artificial neural networks, fault detection and diagnosis using artificial neural networks, electronic instrumentation, ion traps and electronic devices.

L. A. Garcia-Delgado received his Ph.D. in electric engineering, mechatronic and control, in 2012, from Instituto Tecnologico de la Laguna, in Torreon, Mexico. Currently, he is a full-time professor-researcher in the Department of Research in Physics of the Universidad de Sonora, Mexico. His fields of interest are mobile robots control, formation control, trajectories generation and obstacle avoidance, among others.

Herman Castaneda graduated in communication and electronic engineering from the Universidad Autonoma de Zacatecas, Zacatecas, Mexico, and both his M.Sc. and Ph.D. degrees in electric engineering with emphasis in nonlinear control from the Universidad Autonoma de Nuevo Leon, Mexico, in 2010 and 2014, respectively. In 2015, he joined to the Tecnologico de Monterrey, Monterrey, Mexico as Postdoctoral fellow, and since 2017 as a Professor Researcher at Mechatronics department and Robotics research group. His research interests include design, modeling, nonlinear control and observers of autonomous vehicles.

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Arizaga, J.M., Noriega, J.R., Garcia-Delgado, L.A. et al. Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties. Int. J. Control Autom. Syst. 19, 2251–2259 (2021). https://doi.org/10.1007/s12555-019-1801-6

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  • DOI: https://doi.org/10.1007/s12555-019-1801-6

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