SLIDE MODE CONTROL APPLIED IN WAYPOINT-BASED GUIDANCE OF MULTIROTOR AERIAL VEHICLES
José Agnelo Bezerra Guilherme Silva1; Igor Afonso Acâmpora Prado1; Davi Antônio dos Santos1
1 Instituto Tecnológico de Aeronáutica
Resumo
The present paper deals with the waypoint-based guidance of a multirotor aerial vehicle in the presence of a bounded wind disturbance. A discrete-time quasi-sliding mode control (SMC) strategy is adopted, which assures finite-time stability to the guidance. In the proposed control loop, the position command is transmitted to the controller as a sequence of tridimensional waypoints. The current waypoint of the sequence is detected as soon as the vehicle enters inside a virtual sphere centered at it. At this moment, the next waypoint commanded is made active. This switching-waypoint rule is repeated until the final waypoint is activated, at which the vehicle is commanded to hover. The finite-time stability is assured by the reaching law of SMC, which keeps the multirotor's position close to the next waypoint of the reference trajectory. The resulting control law is simple to implement in an embedded real-time system. The proposed method is evaluated on computational simulations and trajectories very close to the reference were achieved, proving its efficiency and robustness against a bounded random wind disturbance.
Palavras-chave: Robust Control; Slide Mode Control; Multirotor Aerial Vehicles; Waypoint Navigation