This paper introduces a nonconventional approach for autonomous multirotor UAV deployment, in which a quadrotor is aggressively launched through the air with its motors turned off. A continuous quaternion attitude trajectory is proposed to safely recover the vehicle into a hover mode. Then, an operator could take the command or continue a desired mission in the 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.
Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller
IEEE Transactions on Aerospace and Electronic Systems ; 56 , 3 ; 1979-1991
2020-06-01
2422468 byte
Article (Journal)
Electronic Resource
English
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