Multivariable Super-Twisting Control in a Vision-based Quadrotor Utilized in Agricultural Application

摘要

In this paper, a stereo visual-based control is designed by using virtual image projection and actual depth calculation on a quadrotor system. Super-twisting nonlinear control is supported with time delay disturbance estimation algorithm to estimate disturbance and to drive the system to track the desired trajectory. This proposed super-twisting algorithm ensures the finite time convergence of the system states to the selected sliding surface. The stability analysis of the control is confirmed in the closed loop. The effectiveness of the proposed system is shown by carrying out simulation, using real quadrotor parameters.