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

International audienceThis 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

Distributed path planning for controlling a fleet of UAVs : application to a team of quadrotors

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Quaternion Modeling and Control Approaches

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User-Robot Interaction For Safe Navigation of a Quadrotor

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Cylindrical bounded quaternion control for tracking and surrounding a ground target using UAVs

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Pedestrian in the loop: An approach using flying drones

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Design and implementation of distributed path planning algorithm for a fleet of UAVs

International audienceThis paper presents the development of a controller for a fleet of Unmanned Arial Vehicles (UAVs) based on a distributed path planning strategy under a multi agent systems framework. The issue, treated as an online optimization problem, is solved using a Particle Swarm Optimization Algorithm (PSO). The proposal was validated in experiments, considering different scenarios like fixed and mobile targets, external disturbances, and the loss of an agent. The proposed PSO is implemented independently in each vehicle in order to determine, by minimizing a cost function, the best paths that ensure the fleet formation control, target tracking and collision avoidanc

Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions

In this paper the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an Unmanned Aerial Vehicle (UAV) described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space is introduced. Then, a new methodology: a quaternion-passivity-based control is derived, which does not compute excessive and complex Partial Differential Equations (PDEs) for synthesizing the control law, making a significant advantage in comparison with other methodologies. Therefore, the control design to a system as the quad-rotor is easily solved by the proposed methodology. Another advantage is the possibility to stabilize quad-rotor full dynamics which may not be possible with classical PBC techniques. Experimental results and numerical simulations to validate our proposed scheme are presented