Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles.
Jorge A Ricardo1, Davi A Santos1
1Aeronautics Institute of Technology (ITA), Mechatronics Department, Praça Marechal Eduardo Gomes 50, São José dos Campos - SP, 12228-900, Brazil.
ISA Transactions
|February 11, 2022
Summary
This study presents a robust control method for multirotor aerial vehicles, ensuring smooth tracking of attitude and position despite model uncertainties and disturbances. The approach enhances aerial vehicle stability and performance.
Area of Science:
- Robotics
- Control Systems Engineering
- Aerospace Engineering
Background:
- Multirotor aerial vehicles require precise attitude and position control for various applications.
- Model uncertainties and external disturbances pose significant challenges to achieving robust control.
Purpose of the Study:
- To develop a robust and smooth attitude-position tracking control law for fully actuated multirotor aerial vehicles.
- To address matched model uncertainties and disturbances effectively.
Main Methods:
- Derivation of coupled dynamic equations using a multibody approach.
- Design of a novel joint geometric attitude-position control law based on a smooth second-order sliding mode strategy.
- Utilization of a high-order sliding mode disturbance observer for system robustness.
Main Results:
- The proposed control law ensures exponential convergence of tracking errors to the origin.
- The method guarantees overall system robustness against uncertainties and disturbances.
- Numerical simulations demonstrate superior performance compared to existing methods.
Conclusions:
- The developed control strategy offers a robust and effective solution for attitude-position tracking in multirotor aerial vehicles.
- The integration of second-order sliding mode control and disturbance observation enhances system reliability and performance.
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