Villa, Daniel Khede Dourado (Federal University of Espírito Santo), Brandao, Alexandre Santos (Federal University of Vicosa), Sarcinelli-Filho, Mário (Federal University of Espirito Santo)

Outdoor navigation using two quadrotors and adaptive sliding mode control

Scheduled for presentation during the Regular Session "UAS Applications I" (ThA3), Thursday, September 3, 2020, 11:00−11:20, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

In this work, a solution to outdoor trajectory tracking using quadrotors is presented. The unmanned aerial vehicles (UAVs) navigate under the leader-follower formation, where the pose of the leader is estimated using its onboard sensors, and the pose of the follower by position-based visual servoing. To handle the outdoor environment perturbations, unmodeled vehicle dynamics, and dynamic disturbances caused by wind and varying lightning conditions, a robust sliding mode controller is used. The proposal is experimentally validated using two Parrot Bebop 2 quadrotors in an outdoor scenario. The obtained results allow concluding that the proposed control system is able to accomplish trajectory tracking under parametric uncertainties and real-world disturbances.