Quaternion-Based Sliding Mode Control for Six Degrees of Freedom Flight Control of Quadrotors

מושגי ליבה

Developing a new 6-DOF SMC flight controller for quadrotors to address limitations in existing approaches.

תקציר

This paper introduces a novel approach to sliding mode control (SMC) for quadrotors, focusing on the limitations of current methods. The traditional Euler angle-based SMC formulations face challenges in high-pitch or -roll maneuvers, while quaternion-based approaches encounter unwinding issues and complex architectures. To overcome these limitations, the authors propose a new six degrees of freedom (6-DOF) SMC flight controller with a cascaded architecture. This design includes a position controller in the outer loop and a quaternion-based attitude controller in the inner loop. By utilizing the natural characteristics of quaternion hypersphere, this method offers global stability and avoids unwinding problems. The comparison with other common control methods demonstrates superior performance in challenging maneuvers like flip-over and high-speed trajectory tracking, even in the presence of model uncertainties and disturbances. Notations used include italics for scalars, lowercase bold for vectors, and uppercase bold for matrices.

סטטיסטיקה

J = diag (Jx, Jy, Jz) the inertia matrix,
m is the mass,
ct is the rotors’ thrust coefficient,
cq is the rotors’ torque coefficient,
l is a geometric parameter,
da and dα are bounded external disturbances.

ציטוטים

"Our controller consistently outperforms benchmark approaches with less control effort and actuator saturation."
"Our method offers global stability and uses inherent characteristics of quaternion dynamics to achieve remarkable performance."
"Our proposed method provides fast and robust control that outperforms several existing methods over challenging scenarios."

תובנות מפתח מזוקקות מ:

Quaternion-Based Sliding Mode Control for Six Degrees of Freedom Flight Control of Quadrotors

by Amin Yazdans... ב- arxiv.org 03-19-2024

https://arxiv.org/pdf/2403.10934.pdf

שאלות מעמיקות

How does this new 6-DOF SMC flight controller compare to differential flatness or nonlinear model predictive control methods

The new 6-DOF SMC flight controller presented in the context offers robustness and simplicity, making it effective for quadrotor flight control. In comparison to differential flatness or nonlinear model predictive control methods, the SMC approach stands out in terms of its ability to handle uncertainties and disturbances effectively. While all three methods have their strengths, SMC excels in scenarios where robustness is crucial due to its inherent sliding mode nature that ensures stability even in the presence of uncertainties.

What are potential extensions or enhancements that could be made to this proposed method

Potential extensions or enhancements that could be made to this proposed method include:

Higher-order SMC Extensions: Extending the current formulation of the 6-DOF SMC controller to higher orders can potentially improve performance and robustness.
Adaptive Laws: Incorporating adaptive laws into the controller can enhance its adaptability to varying conditions and improve overall performance.
Integration with AI Techniques: Integrating artificial intelligence techniques such as reinforcement learning or neural networks can further optimize control strategies based on real-time data.

How does the efficiency of sliding mode control compare to other agile flight controllers like differential flatness

In terms of efficiency, sliding mode control (SMC) has advantages over other agile flight controllers like differential flatness due to its robust nature against uncertainties and disturbances. While both SMC and differential flatness offer stable control solutions, SMC typically requires less tuning effort and provides better resilience in challenging environments where disturbances are prevalent. Additionally, compared to nonlinear model predictive control methods, SMC is known for its simplicity while still offering strong performance characteristics in agile flight scenarios.