Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
ATTITUDE DETERMINATION FOR MULTIROTOR AERIAL VEHICLE USING A SUPER-TWISTING SLIDING MODE OBSERVER
Submission Author:
João Filipe Renó Peixoto de Azevedo Silva , SP
Co-Authors:
João Filipe Renó Peixoto de Azevedo Silva, Davi Antônio dos Santos
Presenter: João Filipe Renó Peixoto de Azevedo Silva
doi://10.26678/ABCM.COBEM2021.COB2021-0442
Abstract
A plethora of attitude determination methods has been studied in the aerospace field in the past. The miniaturization and the falling cost of technology have made it viable for a multirotor aerial vehicles (MAV) field to emerge, and for its researchers to revisit some of these well-known methods. In an attempt to develop a more modern solution to this classical problem, the present work is concerned with the attitude determination for an MAV using a robust sliding-mode estimator. Without angular velocity measurements, the proposed method estimates the MAV three-dimensional attitude through a QUEST algorithm and the vector measurements provided by an accelerometer and a magnetometer. Next, a multivariable super-twisting observer is proposed as the estimation method for the attitude and its derivative, which in turn are used to estimate the MAV's angular velocity. The finite-time convergence of the estimation errors is mathematically proven via a Lyapunov approach. The method's effectiveness is demonstrated by simulation, through which the vehicle's attitude and angular velocity are accurately and robustly estimated.
Keywords
attitude determination, Sliding-mode Observer, Finite time convergence, robust estimation, vector measurements
