Reynoso, Martin (UPP), Ordaz, Patricio (Universidad Autonoma del Estado de Hidalgo), Ramos-Velasco, Luis Enrique (Universidad Politécnica Metropolitana de Hidalgo, México), Garcia-Rodriguez, Rodolfo (Metropolitan Polytechnic University of Hidalgo)

Robust Trajectory Tracking for UAS: Dynamics Sliding Mode approach

Scheduled for presentation during the Regular Session "Airspace Control" (ThC4), Thursday, June 13, 2019, 17:20−17:40, Savannah

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper addresses the problem of Dynamics Sliding Mode Control (DSMC) design from a nonlinear and linear mathematical model of a Quadrotor system.

Conventional Unmanned Aerial Systems (UAS) requires control strategies while executes a mission entrusted, such as the classical work of trajectory tracking. For this purpose, it must remain very close to zero to satisfy the assumption of small angles approximation. However, this requirement may be valid for hover flight, but not for translational flights or aggressive maneuvers. In this paper a trajectory tracking control applied to rotorcraft systems without the classical systematic subdivision is presented to overcome this issue.

Simulations are presented to evaluate the performance and effectiveness of the proposed control scheme. These results show that the proposed strategy enables the UAS to track a desired trajectory while keeping the attitude close to the desired value.