Time-parametrization control of quadrotors with a robust quaternion-based sliding mode controller for aggressive maneuvering

Sánchez, Anand; Parra-Vega, V.; García, Octavio; Ruiz-Sanchez, Francisco J.; Ramos-Velasco, Luis Enrique

doi:10.23919/ecc.2013.6669856

Cited by 12 publications

(9 citation statements)

References 7 publications

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“…Wang and Su 13 designed a switch control algorithm for problems involving a large initial attitude with external disturbances and internal uncertainties in consideration. Similar studies were carried out by Faessler et al 14 and Sanchez et al, 15 where controllers successfully stabilized the quadrotor starting from a large initial attitude. However, the outer loop states were not considered.…”

Section: Introductionsupporting

confidence: 69%

Large-scale stabilization control of input-constrained quadrotor

Lee

et al. 2016

International Journal of Advanced Robotic Systems

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The quadrotor has been the most popular aircraft in the last decade due to its excellent dynamics and continues to attract everincreasing research interest. Delivering a quadrotor from a large fixed-wing aircraft is a promising application of quadrotors. In such an application, the quadrotor needs to switch from a highly unstable status, featured as large initial states, to a safe and stable flight status. This is the so-called large-scale stability control problem. In such an extreme scenario, the quadrotor is at risk of actuator saturation. This can cause the controller to update incorrectly and lead the quadrotor to spiral and crash. In this article, to safely control the quadrotor in such scenarios, the control input constraint is analyzed. The key states of a quadrotor dynamic model are selected, and a two-dimensional dynamic model is extracted based on a symmetrical body configuration. A generalized point-wise min-norm nonlinear control method is proposed based on the Lyapunov function, and large-scale stability control is hence achieved. An enhanced point-wise, min-norm control is further provided to improve the attitude control performance, with altitude performance degenerating slightly. Simulation results showed that the proposed control methods can stabilize the input-constrained quadrotor and the enhanced method can improve the performance of the quadrotor in critical states.

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Section: Introductionsupporting

confidence: 69%

Large-scale stabilization control of input-constrained quadrotor

Lee

et al. 2016

International Journal of Advanced Robotic Systems

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“…In this paper, a robust geometric navigation algorithm for a quadrotor UAV was developed on the special Euclidean group SE (3). The nonlinear dynamic model for a quadrotor UAV was presented using the Newton-Euler formulation.…”

Section: Discussionmentioning

confidence: 99%

“…Linear and nonlinear controllers have been proposed in order to solve the underactuation system of a wide range of unmanned vehicles as fixed-wing and quadrotor UAVs, see refs. [1][2][3] In particular, control strategies based on geometric control theory have shown a convenient performance for quadrotors, which reach tasks with an asymptotic convergence to the trajectory and with low normal velocity. This paper presents a solution to the underactuation problem for a quadrotor UAV that has four independent control inputs for the six degrees of freedom of translational and rotational motion in the three-dimensional Euclidean space.…”

Section: Introductionmentioning

confidence: 99%

“…In ref. [16] the output regulation problem of rigid bodies was addressed in which the kinematic configuration space lies on the Special Euclidean group SE (3). Simulation results are presented in order to validate the proposed backstepping control.…”

Section: Introductionmentioning

confidence: 99%

“…The novelty of this paper is twofold. On one hand, a guidance frame is designed in special Euclidean group SE (3), such that the quadrotor UAV reaches the desired trajectory with a highdegree of precision and an asymptotic convergence to the contour of the task with small normal velocity. On other hand, a robust controller, ST algorithm, with a cascade structure for the nonlinear rotational and translational dynamics of the quadrotor UAV is proposed, such that a virtual position controller guarantees that the sliding mode is enforced in finite time for the position dynamics and subsequently the attitude controller stabilizes the orientation dynamics in the desired orientation based on the guidance frame against disturbances due to gust winds, as well as transverse flow and ground effects.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

García¹,

Rojo-Rodriguez²,

Sánchez³

et al. 2019

Robotica

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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.

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Erratum: H ∞ Path Tracking Control for Quadrotors Based on Quaternion Representation

Jasim

2014

Advances in Autonomous Robotics Systems

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Time-parametrization control of quadrotors with a robust quaternion-based sliding mode controller for aggressive maneuvering

Cited by 12 publications

References 7 publications

Large-scale stabilization control of input-constrained quadrotor

Large-scale stabilization control of input-constrained quadrotor

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

Erratum: H ∞ Path Tracking Control for Quadrotors Based on Quaternion Representation

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