Derrouaoui, Saddam Hocine (Ecole Supérieure Ali Chabati), Bouzid, Yasser (Ecole Militaire Polytechnique), Belmouhoub, Amina (University Mohamed El Bachir El Ibrahimi), Guiatni, Mohamed (Ecole Militaire Polytechnique)

Enhanced Nonlinear Adaptive Control of a Novel Over-Actuated Reconfigurable Quadcopter

Scheduled for presentation during the Regular Session "Manned/Unmanned Aviation II" (WeB2), Wednesday, June 7, 2023, 16:20−16:40, Room 130

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this paper, we address the control of a novel over-actuated reconfigurable quadcopter that can change its arms to different orientations, to form various configurations models and navigate in a crowded environment. An enhanced Adaptive Nonsingular Fast Terminal Sliding Mode Control (ANFTSMC) method is suggested to manage the impact of the external disturbances. A comparative study with the conventional Backstepping (BS) and Sliding Mode (SM) controllers is provided to illustrate and asses the efficiency of the designed approach.