Control Super Twisting Embebido para la Orientación de un Cuadrirrotor (Embedded Super Twisting Control for the Attitude of a Quadrotor)

Alan Gerardo Escobar Ruiz (alan.escobarrz@uanl.edu.mx)1, Hussain Alazki (halazki@pampanp.unacar.mx)2, Jose Exiquio Valenzuela Rubio (jose.valenzuelarb@uanl.edu.mx)1, Octavio Garcia Salazar (ogarcias@ieee.org)1


1Autonomous University of Nuevo Leon
2Autonomous University of Ciudad del Carmen

This paper appears in: Revista IEEE América Latina

Publication Date: Sept. 2016
Volume: 14,   Issue: 9 
ISSN: 1548-0992


Abstract:
This paper focuses on the embedded super twisting control for the orientation dynamics of a quadrotor. The Newton-Euler approach is applied to obtain the dynamic model of the quadrotor and a functional description of the experimental platform is described. In order to implement the control algorithm and perform real-time flights, a commercial flight computer is used. Experimental results are obtained in real-time during the autonomous flight.

Index Terms:
Quadrotor, Embedded Control, Embedded Super Twisting Control, Sliding Mode Control, Flight Computer   


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