Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Multirotor UAVs struggle with attitude stabilization due to external disturbances like wind.
• Rotor thrust alone is often insufficient for robust control in challenging environments.

Purpose of the Study:

• To develop a novel control framework for enhanced attitude stabilization of multirotor UAVs.
• To improve disturbance rejection and singularity avoidance in UAV control systems.

Main Methods:

• Integration of Control Moment Gyros (CMGs) for robust attitude control.
• Application of Fast Terminal Sliding Mode Control (FTSMC) for finite-time convergence.
• Implementation of a Disturbance Robust Drive Law (DRDL) to avoid singularities.

Main Results:

• The proposed CMG-based framework with DRDL demonstrated rapid attitude convergence in simulations.
• The system effectively minimized oscillations in motor speed and CMG gimbal movement.
• Significant improvements in singularity avoidance and disturbance mitigation were observed compared to pseudo-inverse control.

Conclusions:

• The novel control framework enhances the stability and reliability of multirotor UAVs.
• The approach shows potential for high-performance control in demanding, disturbed operational environments.