Abstract
The design of an embedded flight controller for a quadrotor micro air vehicle, which is subject to uncertainties and perturbations, is addressed. In order to obtain robustness against bounded uncertainties and disturbances, an adaptive sliding mode controller is proposed. The control adaptive gains allow using only necessary control to satisfy the task, reducing the chattering effect and at the same time reject external perturbations. Furthermore, a stability analysis of the closed-loop system is given. Finally, simulations and experimental results carried out on a commercial micro air vehicle demonstrate the feasibility and advantages of the proposed flight controller.
Highlights
The study about Unmanned Aerial Vehicles (UAVs), the quadrotor systems, has grown exponentially, such that many applications have been developed due to their advantages such as vertical take-off and landing, hovering, and maneuverability
We focus on the Parrot mini drone rolling spider, which due to its tiny size is classified as an Micro Air Vehicles (MAVs)
State information was obtained via sensor fusion from on-board sensors such as the ultrasonic sensor, IMU, air pressure, and the downward-facing camera through Kalman filters, which are defined by the rolling spider toolbox package
Summary
The study about Unmanned Aerial Vehicles (UAVs), the quadrotor systems, has grown exponentially, such that many applications have been developed due to their advantages such as vertical take-off and landing, hovering, and maneuverability. We focus on the Parrot mini drone rolling spider, which due to its tiny size is classified as an MAV. In order to control a quadrotor MAV subject to uncertainties and external disturbances, adaptive control [4], robust control [5], optimal control [6], and intelligent control [7] have been developed. It is clear that tiny vehicles such as micro air vehicles have more sensitivity to external perturbations compared with the standard size, demanding robust and adaptive controllers to guarantee the commanded task. An adaptive sliding mode technique is the core of the approach, where the advantages rely on not overestimating the magnitude of the gain and robustness against bounded disturbances. Simulations and experimental results carried out on a commercial rolling spider micro drone demonstrate the feasibility and advantages of the proposed flight controller.
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