Abstract
In order to achieve the complicated trajectory tracking of quadrotor, a geometric inner and outer loop control scheme is presented. The outer loop generates the desired rotation matrix for the inner loop. To improve the response speed and robustness, a geometric SMC controller is designed for the inner loop. The outer loop is also designed via sliding mode control (SMC). By Lyapunov theory and cascade theory, the closed-loop system stability is guaranteed. Next, the tracking performance is validated by tracking three representative trajectories. Then, the robustness of the proposed control method is illustrated by trajectory tracking in presence of model uncertainty and disturbances. Subsequently, experiments are carried out to verify the method. In the experiment, ultra wideband (UWB) is used for indoor positioning. Extended Kalman Filter (EKF) is used for fusing inertial measurement unit (IMU) and UWB measurements. The experimental results show the feasibility of the designed controller in practice. The comparative experiments with PD and PD loop demonstrate the robustness of the proposed control method.
Highlights
A quadrotor is a kind of unmanned aerial vehicle which consists of four fixed-pitch propellers attached to motors mounted in a square crossing rack
The sliding mode control (SMC) law based on rotation matrix is designed, which frees the quadrotor from the constraints of small-angle flight
The quality of system is further evaluated by integral absolute error (IAE), integral squared error (ISE) and measured integral squared input (ISCI) performance index, respectively
Summary
A quadrotor is a kind of unmanned aerial vehicle which consists of four fixed-pitch propellers attached to motors mounted in a square crossing rack. Nonlinear techniques (backstepping, sliding mode control and fuzzy logic control) have been applied to the control of quadrotor on this basis [3,4] He transformed the nonlinear model to a linear model and proposed an internal model control method to realize the trajectory tracking [5]. High order sliding mode (HOSM) techniques have been proposed to reduce chattering and improve the control performance. Considering that chattering effects can be reduced or even eliminated, SMC outperforms traditional control methods in terms of convergence rate and robustness in the presence of model uncertainty and disturbances. The SMC law based on rotation matrix is designed, which frees the quadrotor from the constraints of small-angle flight.
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