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Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV

Published online by Cambridge University Press:  24 July 2020

Abraham Villanueva ,
Luis F. Luque-Vega Open the ORCID record for Luis F. Luque-Vega [Opens in a new window] ,
Luis E. González-Jiménez Open the ORCID record for Luis E. González-Jiménez [Opens in a new window]  and
Carlos A. Arellano-Muro
Abraham Villanueva
Affiliation:
CINVESTAV-IPN Unidad Guadalajara, Zapopan, Jalisco, Mexico. E-mails: abrahamvn@gmail.com, carellano@gdl.cinvestav.mx
Luis F. Luque-Vega
Affiliation:
Centro de Investigación, Innovación y Desarrollo Tecnológico CIIDETEC-UVM, Universidad del Valle de México, Tlaquepaque, Jalisco 45601, Mexico. E-mail: luis.luque@uvmnet.edu
Luis E. González-Jiménez
Affiliation:
Department of Electronics, Systems and Informatics, ITESO - The Jesuit University of Guadalajara, Tlaquepaque, Jalisco, Mexico.
Carlos A. Arellano-Muro
Affiliation:
CINVESTAV-IPN Unidad Guadalajara, Zapopan, Jalisco, Mexico. E-mails: abrahamvn@gmail.com, carellano@gdl.cinvestav.mx
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Summary

This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances.

Keywords

Sliding modesMultimode flight controlQuadrotorSwitching dynamics

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 4 , April 2021 , pp. 699 - 717
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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