Quadrotor Aggressive Deployment, Using a Quaternion-based Spherical Chattering-free Sliding-mode Controller
Résumé
This paper introduces a non-conventional approach for autonomous multi-rotor UAV deployment, in which a quadro-tor is aggressively launched through the air with its motors turned off. A continuous quaternion attitude trajectory is proposed to safely recover the vehicle into hover mode. Then, an operator then could take the command or continue a desired mission in autonomous mode. The controller is a chattering-free sliding mode algorithm based on the geometrical properties of quaternions and axis-angle rotations. Lyapunov theory is used to analyze the system stability. The proposed methodology is validated in real world indoor and outdoor experiments.
Domaines
AutomatiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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