Modeling and Sliding Mode Control of a Fully-actuated Multirotor with Tilted Propellers

Yao, Chao; Krieglstein, Jan; Janschek, Klaus

doi:10.1016/j.ifacol.2018.11.527

Cited by 18 publications

(11 citation statements)

References 13 publications

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“…The flight control module is designed using a proportional-derivative (PD) law combined with an arbitraryorder sliding mode disturbance observer (SMDO). Different from the papers 13,14,[16][17][18][19] , the proposed method provides a smooth control law that ensures robustness due to the presence of the SMDO. On the other hand, the guidance module uses an attitude reference filter to generate sufficiently smooth attitude commands.…”

Section: Introductionmentioning

confidence: 98%

“…In particular, the most usual approach for fully actuated MAVs is to separately design the position and attitude controllers due to their capacity to independently control its six DOF using six independent control efforts, i.e., three force components and three torque components. In particular, sliding mode control 10,11 (SMC) and feedback linearization have been recently proposed [12][13][14][15] to design the flight control of fully actuated MAVs equipped with fixed rotors. Rajappa et al 15 designed a feedback-linearization control law containing an integral action to ensure robust tracking performance with respect to constant disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…Rajappa et al 15 designed a feedback-linearization control law containing an integral action to ensure robust tracking performance with respect to constant disturbances. To reject a more general class of disturbances, Kotarski et al 13 have adopted a first-order SMC and Yao et al 14 have presented an integral SMC, but, to get rid of the high-frequency control, the sign function is approximated by an arctangent with a consequent degradation of robustness. It is worth mentioning that many papers focusing on underactuated MAVs have also presented first-order SMC with smooth approximations of the sign function [16][17][18][19] .…”

Section: Introductionmentioning

confidence: 99%

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Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Ricardo

Santos

2023

Preprint

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This paper is concerned with the robust guidance and control of fully actuated multirotor aerial vehicles in the presence of moving obstacles, linear velocity constraints, and matched model uncertainties and disturbances. We address this problem by adopting a standard hierarchical flight control architecture consisting of a supervisory outer-loop guidance module and an inner-loop stabilizing control one. The position and attitude control laws are designed using a proportional-derivative approach combined with a sliding mode disturbance observer. On the other hand, to design the guidance, we propose a robust version of the continuous-control-obstacles method, which derives from the velocity obstacles one, to drive the vehicle to a target pose while avoiding collision with moving obstacles and violation of linear velocity constraints. The overall method have been numerically evaluated and shown to be effective in providing satisfactory tracking performance, collision-free guidance, and satisfaction of linear velocity constraints.

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Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Ricardo

Santos

2023

Preprint

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“…Ricardo Jr [8] investigated a smooth second-order SMC for a hexacopter for position and attitude control issues. Yao et al [9] provided an integral first-order SMC, but to eliminate the high frequency control, it employed an arctangent approximation of the discontinuities.…”

Section: Introducti̇onmentioning

confidence: 99%

Sliding Mode Control-Based Modeling and Simulation of a Quadcopter

Elagib

Karaarslan²

2023

JERR

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This article discusses the use of Sliding Mode Control (SMC) for the control of a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build the quadcopter's dynamic model. The model is divided into under-actuated and fully actuated subsystems. Even though controlling UAVs is difficult owing to their extremely nonlinear characteristics, previous experimental trials and simulation studies have proved that the sliding mode controller yields satisfactory performance and disturbance tolerance. The contribution of this study is the presenting of an accurate quadcopter modeling and simulation employing a sliding mode controller and a Newton-Euler formula to reduce chattering. In this study, SMC was used to control the altitude and attitude of the quadcopter. MATLAB/Simulink was used to show the quadcopter dynamic model and controller model, and the result illustrating the controller's performance in different conditions was acquired.

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“…Global stability and robustness are the objectives that controllers' design for octorotors aims at achieving. [20][21][22][23] In this article a nonlinear optimal control method is developed for a star-shaped octorotor. [24][25][26] To this end, the dynamic model of the octorotor undergoes first approximate linearization around a temporary operating point which is recomputed at each time-step of the control algorithm.…”

mentioning

confidence: 99%

A nonlinear optimal control approach for the autonomous octorotor

et al. 2020

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The article proposes a nonlinear optimal control approach for the model of the autonomous octorotor. This aerial drone has improved load transport capability due to being actuated by eight rotors. The dynamic model of the octorotor undergoes approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model an H‐infinity feedback controller is designed. The linearization procedure relies on the computation of the Jacobian matrices of the state‐space model of the octorotor. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of this aerial drone, under model uncertainties, and external perturbations. For the computation of the controller's feedback gains an algebraic Riccati equation is solved at each time‐step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the octorotor, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis. It can be noted that: (1) the novelty/innovation of this research work is in presenting a novel and genuine nonlinear optimal control method for the octocopter's model, (2) the significance of the presented method is in achieving fast and accurate tracking of reference setpoints for the octocopter under moderate variations of the control inputs. By minimizing energy consumption by the actuators of the UAV its autonomy and operational capacity is improved, (3) the intellectual contribution of the article is in solving the nonlinear optimal control problem for the octocopter in an effective, yet computationally efficient manner.

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Modeling and Sliding Mode Control of a Fully-actuated Multirotor with Tilted Propellers

Cited by 18 publications

References 13 publications

Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Sliding Mode Control-Based Modeling and Simulation of a Quadcopter

A nonlinear optimal control approach for the autonomous octorotor

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