Quadrotor Aggressive Deployment, Using a Quaternion-based Spherical Chattering-free Sliding-mode Controller

Hernan Abaunza (1) , Pedro Castillo Garcia (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper introduces a non-conventional approach for autonomous multi-rotor UAV deployment, in which a quadro-tor is aggressively launched through the air with its motors turned off. A continuous quaternion attitude trajectory is proposed to safely recover the vehicle into hover mode. Then, an operator then could take the command or continue a desired mission in autonomous mode. The controller is a chattering-free sliding mode algorithm based on the geometrical properties of quaternions and axis-angle rotations. Lyapunov theory is used to analyze the system stability. The proposed methodology is validated in real world indoor and outdoor experiments.

Mots clés: Sliding Mode; Quadrotor; Hand-launching; Launching; Deployment; Quaternion

Domaines: Automatique

Hernan Abaunza, Pedro Castillo Garcia. Quadrotor Aggressive Deployment, Using a Quaternion-based Spherical Chattering-free Sliding-mode Controller. IEEE Transactions on Aerospace and Electronic Systems, 2019, 56 (3), pp.1979-1991. ⟨10.1109/TAES.2019.2937663⟩. ⟨hal-02283712⟩