Nonlinear Disturbance Observer-Based Sliding-Mode Geometric Controller for Fully-Actuated Hexarotor

Abstract

In this work we present the modeling and control of a fullyactuated hexarotor. A tilt angle for each rotor allows the unmanned aircraft system to exert forces and moments in all the directions. Meanwhile, the hexarotor is capable of bidirectional thrust which is generated by reversing the direction of the driving motors. A sliding-mode geometric controller is combined with a nonlinear disturbance observer to enhance the robustness of the dynamic system on the nonlinear manifold SE(3), where the rotational dynamics evolve on SO(3) while the translational dynamics evolve on R 3 .