Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros

This paper presents a novel control framework for enhancing the attitude stabilization of multirotor UAVs using Control Moment Gyros (CMGs) and a Disturbance Robust Drive Law (DRDL). Due to their lightweight and compact structure, multirotor UAVs are highly susceptible to disturbances such as wind, making it challenging to achieve stable attitude control using rotor thrust alone. To address this issue, we employ CMGs to provide robust attitude control and apply Fast Terminal Sliding Mode Control (FTSMC) to ensure fast and accurate convergence within a finite time. The combination of CMGs' torque amplification capability with the DRDL enables the system to effectively avoid singularities and maintain stable control performance in the presence of disturbances. Simulation results demonstrate that the CMG-equipped hexarotor utilizing the DRDL rapidly converges to the target attitude despite external disturbances, while minimizing oscillations in both motor speed and gimbal movement. Additionally, compared to the pseudo-inverse control method, the proposed approach significantly improves singularity avoidance and disturbance mitigation. The proposed control framework enhances the stability and reliability of UAV operations and demonstrates its potential for high-performance control in challenging disturbance environments.