External Perturbation Estimation based on Super-Twisting Algorithm for Attitude Control of UAVs

摘要

In this paper, the problem of UAVs attitude control with external perturbation is addressed. The algorithm is constructed in two steps, in the first step the external perturbation is estimated using finite time convergent observer (Super-Twisting Algorithm (STA)) while in the second step this estimation is used by the controller in order to compensate it. The closed loop stability properties of this nonlinear controller/observer are analyzed using separation principle and the system is found to be globally stable. The results of simulations and actual experiments on a real quadrotor show the effectiveness of the proposed observer/controller to improve the performances of the system despite of disturbances.