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.


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    Titel :

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


    Beteiligte:
    Abaunza, Hernan (Autor:in) / Castillo, Pedro (Autor:in)


    Erscheinungsdatum :

    01.06.2020


    Format / Umfang :

    2422468 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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