Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
FORMATION GUIDANCE OF FULLY ACTUATED MULTIROTOR AERIAL VEHICLES USING GLOBAL SLIDING MODES
Submission Author:
Jorge Antonio Ricardo Junior , SP
Co-Authors:
Jorge Antonio Ricardo Junior, Davi Antônio dos Santos
Presenter: Jorge Antonio Ricardo Junior
doi://10.26678/ABCM.COBEM2021.COB2021-0994
Abstract
This paper investigates the robust position and attitude guidance of a group of fully actuated multirotor aerial vehicles equipped with fixed rotors and subject to bounded disturbances. To address the problem, we propose a hierarchical control architecture, in which a joint attitude-position flight control loop of each vehicle is nested inside the vehicle guidance loop. The flight control of each vehicle is designed using a proportional derivative strategy, while a global sliding mode strategy is adopted to robustly guide each vehicle in the presence of bounded disturbances. The latter ensures the robustness of the system from the initial time instant. The method is evaluated via numerical simulations using a formation of fully actuated hexacopters, showing to be effective and simple to implement and tune.
Keywords
global sliding mode control, formation guidance, fully-actuated multirotor aerial vehicle
