スーパーツイスティングスライディングモード制御を用いたマルチロータUAVのロバスト姿勢・角速度制御

抄録

In recent years, multi-rotor UAV has been used in various fields. Among them, what is expected to be particularly active is the delivery of packages in the field of logistics and the transportation of relief supplies in the event of a disaster. In order to realize the transportation business using multi-rotor UAV, robust flight without sudden posture change is required. In this research, we focus on the design of the attitude and angular rate control system. We aim to realize an attitude control system of a multi-rotor UAV that is highly robust against disturbances that occur in the outdoor environment and modeling errors of controlled objects by using super twisting sliding mode (STSM) control. As a result of numerical simulations and demonstration experiments, it was shown that STSM control has excellent tracking performance and high robustness.