| Popis: |
This paper is concerned with the robust guidance and control of fully actuated multirotor aerial vehicles in the presence of moving obstacles, linear velocity constraints, and matched model uncertainties and disturbances. We address this problem by adopting a standard hierarchical flight control architecture consisting of a supervisory outer-loop guidance module and an inner-loop stabilizing control one. The position and attitude control laws are designed using a proportional-derivative approach combined with a high-order sliding mode disturbance observer. On the other hand, we propose a robust guidance strategy based on the continuous-control-obstacles method in order to drive the vehicle to a target pose while avoiding collision with moving obstacles and violation of linear velocity constraints. The overall method has been numerically evaluated and shown to be effective in providing satisfactory tracking performance, collision-free guidance, and satisfaction of linear velocity constraints. Furthermore, it outperformed another method that designs the guidance and control strategies using continuous-control-obstacles and a smooth first-order sliding mode control, respectively. |
