Robust Control

Robust and Agile Quadrotor Flight via Adaptive Unwinding-Free Quaternion Sliding Mode Control
This work proposes an adaptive sliding-mode controller for quadrotors that is globally stable, fast, and efficient, resolving major issues like quaternion unwinding and adaptive gain overgrowth. Hardware tests on a 32 g nano-quadrotor show superior tracking, robustness, and agile maneuvers compared to benchmark methods.
Amin Yazdanshenas, Reza Faieghi
PDF Cite Code Slides Video DOI
Robust and Agile Quadrotor Flight via Adaptive Unwinding-Free Quaternion Sliding Mode Control
Quaternion-Based Sliding Mode Control for Six Degrees of Freedom Flight Control of Quadrotors
Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches have certain limitations.Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.
Amin Yazdanshenas, Reza Faieghi
Cite DOI arxiv
Quaternion-Based Sliding Mode Control for Six Degrees of Freedom Flight Control of Quadrotors