A Robust Hybrid Control for Autonomous Flying Robots in an Uncertain and Disturbed Environment

Abstract

With the aim of efficiently achieving complex trajectory tracking missions in the presence of model uncertainties and exogenous disturbances, this paper proposes a robust hybrid control for the orientation and position of flying robots by adopting insights from sliding mode, geometric tracking, and nonlinear feedback control strategies. Various retrofits are implemented to the composite control scheme in order to tackle the system uncertainties, eliminate the chattering effects, and enhance the trajectory tracking performance. The convergence and stability analysis demonstrated the asymptotic stability of the proposed control algorithm. To reveal the promising performance of the developed control schemes, a qualitative comparative analysis of different proposed control approaches is performed. The comparative analysis examines highly maneuverable trajectories for various tracking scenarios in the presence of uncertain disturbances. The simulation results demonstrated the versatility, robustness, and convergence of the developed control laws that allow autonomous flying robots to effectively perform agile maneuvers.

Keywords

• robust control
• sliding mode control
• trajectory tracking
• nonlinear control
• chattering effect; quadrotor robot