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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller


    Contributors:


    Publication date :

    2020-06-01


    Size :

    2422468 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Chattering free sliding adaptive attitude control for quadrotor

    Zhi Li / Xin Ma / Zhigang Xu et al. | IEEE | 2016


    Chattering-free Discrete Quasi-sliding Mode Controller

    Yu, S.-h. / Qiang, W.-y. / Fu, P.-c. | British Library Online Contents | 2001


    Chattering Reduction of Sliding Mode Control for Quadrotor UAVs Based on Reinforcement Learning

    Qi Wang / Akio Namiki / Abner Asignacion et al. | DOAJ | 2023

    Free access

    Desing of a Chattering-Free Sliding Mode Control System for Robust Position Control of a Quadrotor

    Can, Aydin / Efstathiades, Harry / Montazeri, Allahyar | IEEE | 2020