Robust Geometric Navigation of a Quadrotor UAV on SE(3)

Abstract

SUMMARYIn this paper, a robust geometric navigation algorithm, designed on the special Euclidean group SE(3), of a quadrotor is proposed. The equations of motion for the quadrotor are obtained using the Newton–Euler formulation. The geometric navigation considers a guidance frame which is designed to perform autonomous flights with a convergence to the contour of the task with small normal velocity. For this purpose, a super twisting algorithm controls the nonlinear rotational and translational dynamics as a cascade structure in order to establish the fast and yet smooth tracking with the typical robustness of sliding modes. In this sense, the controller provides robustness against parameter uncertainty, disturbances, convergence to the sliding manifold in finite time, and asymptotic convergence of the trajectory tracking. The algorithm validation is presented through experimental results showing the feasibility of the proposed approach and illustrating that the tracking errors converge asymptotically to the origin.

A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles

“…3 and 3 are disturbances vectors. [21][22][23][24] The total thrust T T i and the actuator moments s a i generated by the four rotors are describe as follows…”

“…Y and D are the aerodynamic side force, and drag force, respectively. 21 The aerodynamic moments. The aerodynamic moments generated during the flight are written as described as where L; M and N are the aerodynamic rolling, pitching and yawing moments respectively.…”

“…The control inputs u p i and u a i are second order sliding mode controllers in order to obtain a guidance and navigation for the i aerial vehicle of the MAS as a networked control system. 19,21,29 Remark 1: As the rotation of the four propellers on the quadrotor is balanced, gyroscopic moment d g gyro i will essentially be zero. The only case in which gyroscopic moments will not be zero is if there is a significant difference in the RPM of the four motors and in the presence of a strong sideways cross-wind.…”

“…The control inputs upi and uai are second order sliding mode controllers in order to obtain a guidance and navigation for the i aerial vehicle of the MAS as a networked control system. 19,21,29…”

“…Then, a sliding mode control (SMC) is used for each quadrotor UAV considering the complete mathematical model, for more details see literature. 19,21 In this sense, the trajectory tracking block is directly connected to the Sectorial Consensus Manager block which runs the consensus algorithm of the N quadrotor UAVs, see Figure 3. Thus, the sectorial consensus manager operates as a distributed protocol that is used to perform formation flight for the MASs or multiple quadrotor UAVs in which each agent or vehicle can take distributed decisions on the local information resulting in a collective motion of all the agents in the group.…”