Abstract
In this work we present the modeling and control of a fully-actuated hexarotor. A tilt angle for each rotor allows the unmanned aircraft system to exert forces and moments in all the directions. Meanwhile, the hexarotor is capable of bidirectional thrust which is generated by reversing the direction of the driving motors. A sliding-mode geometric controller is combined with a nonlinear disturbance observer to enhance the robustness of the dynamic system on the nonlinear manifold SE(3), where the rotational dynamics evolve on SO(3) while the translational dynamics evolve on \(R^{3}\).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Michieletto, G., Ryll, M., Franchi, A.: Fundamental actuation proplerties of multirotors: force-moment decoupling and fail-safe robustness. IEEE Trans. Robot. 34(3), 702–715 (2018)
Rashad, R., Goerres, J., Aarts, R., Engelen, J.B., Stramigioli, S.: Fully actuated multirotor uavs: a literature review. IEEE Robot. Autom. Mag. 27(3), 97–107 (2020)
Ryll, M., Bicego, D., Franchi, A.: Modeling and control of fast-hex: a fully-actuated by synchronized-tilting hexarotor. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1689–1694. IEEE (2016)
Segui-Gasco, P., Al-Rihani, Y., Shin, H.S., Savvaris, A.: A novel actuation concept for a multi rotor uav. J. Intell. Robot. Syst. 74(1), 173–191 (2014)
Voyles, R., Jiang, G.: Hexrotor uav platform enabling dextrous interaction with structures-preliminary work. In: 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1–7. IEEE (2012)
Toratani, D.: Research and development of double tetrahedron hexa-rotorcraft (dot-hr). In: Proceedings of the 28th International Congress Aeronautical Science, pp. 1–8 (2012)
Kaufman, E., Caldwell, K., Lee, D., Lee, T.: Design and development of a free-floating hexrotor uav for 6-dof maneuvers. In: 2014 IEEE Aerospace Conference, pp. 1–10. IEEE (2014)
Giribet, J.I., Sanchez-Pena, R.S., Ghersin, A.S.: Analysis and design of a tilted rotor hexacopter for fault tolerance. IEEE Trans. Aerosp. Electron. Syst. 52(4), 1555–1567 (2016)
Park, S., Her, J., Kim, J., Lee, D.: Design, modeling and control of omni-directional aerial robot. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1570–1575. IEEE (2016)
Cutler, M., How, J.P.: Analysis and control of a variable-pitch quadrotor for agile flight. J. Dyn. Syst. Measurement Control 137(10), 101002 (2015)
Maier, M.: Bidirectional thrust for multirotor mavs with fixed-pitch propellers. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1–8. IEEE (2018)
Lee, T., Leok, M., McClamroch, N.H.: Geometric tracking control of a quadrotor uav on se (3). In: 49th IEEE conference on decision and control (CDC), pp. 5420–5425. IEEE (2010)
Lee, T.: Robust adaptive attitude tracking on so (3) with an application to a quadrotor uav. IEEE Trans. Control Syst. Technol. 21(5), 1924–1930 (2012)
Goodarzi, F., Lee, D., Lee, T.: Geometric nonlinear pid control of a quadrotor uav on se (3). In: 2013 European control conference (ECC), pp. 3845–3850. IEEE (2013)
Wang, Y., Wang, X., Tang, S., Guo, J.: Geometric adaptive robust sliding-mode control on so (3). In: ICINCO (2), pp. 328–338 (2019)
Jothiraj, W., Miles, C., Bulka, E., Sharf, I., Nahon, M.: Enabling bidirectional thrust for aggressive and inverted quadrotor flight. In: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 534–541. IEEE (2019)
Rashad, R., Kuipers, P., Engelen, J., Stramigioli, S.: Design, modeling, and geometric control on se (3) of a fully-actuated hexarotor for aerial interaction. arXiv preprint arXiv:1709.05398 (2017)
Lee, T.: Exponential stability of an attitude tracking control system on so (3) for large-angle rotational maneuvers. Syst. Control Lett. 61(1), 231–237 (2012)
Li, S., Yang, J., Chen, W.H., Chen, X.: Disturbance Observer-Based Control: Methods and Applications. CRC Press, Boca Raton (2014)
Acknowledgment
This wor was supported by the National Natural Science Foundation of China (Grant No.62088101, 61673341), the Project of State Key Laboratory of Industrial Control Technology, Zhejiang University, China (No.ICT2021A10), the Fundamental Research Funds for the Central Universities (No.2021FZZX003-01-06), National Key R&D Program of China (2016YFD0200701-3), Double First Class University Plan (CN).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Li, Y., Zhang, Y., Lin, Y., Wan, J. (2022). Nonlinear Disturbance Observer-Based Sliding-Mode Geometric Controller for Fully-Actuated Hexarotor. In: Deng, Z. (eds) Proceedings of 2021 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 801. Springer, Singapore. https://doi.org/10.1007/978-981-16-6372-7_59
Download citation
DOI: https://doi.org/10.1007/978-981-16-6372-7_59
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-16-6371-0
Online ISBN: 978-981-16-6372-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)