Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
WAYPOINT-BASED GUIDANCE FOR MULTIROTOR AERIAL VEHICLES USING ADAPTIVE GLOBAL SLIDING MODES
Submission Author:
Luiz Gustavo Pereira Roéfero , SP
Co-Authors:
Luiz Gustavo Pereira Roéfero, Jorge Antonio Ricardo Junior, Davi Antônio dos Santos
Presenter: Luiz Gustavo Pereira Roéfero
doi://10.26678/ABCM.COBEM2021.COB2021-0459
Abstract
The present paper investigates the waypoint-based guidance of an under-actuated multirotor aerial vehicle (MAV) subject to bounded disturbances with unknown bounds. To address the problem, we adopt a hierarchical control structure, in which the attitude and position control loops are nested inside an outer-loop guidance. A reduced-order closed-loop dynamic model describing the inner control loops is obtained on the basis of a translation-rotation time-scale separation assumption and considering the use of inverse dynamic stabilizing position and attitude control laws. This model represents the dynamics of the stabilized heading and three-dimensional position, which are the four trackable degrees of freedom of an under-actuated MAV. The afore-described model is employed in the design of the guidance law using a multivariable adaptive global sliding mode control (AGSMC) technique. In particular, to effectively guarantee a global sliding motion, the switching-gain adaptation law is designed to be monotonically increasing. The proposed method is evaluated using numerical simulation, which verifies its effectiveness to robustly guide a vehicle, under completely unknown disturbances, along a specified waypoint sequence.
Keywords
Sliding mode control, multirotor aerial vehicle, waypoint-based guidance
