Quaternion-Based Non-Singular Terminal Sliding Mode Control of Quadrotor with a Two-Degree-of-Freedom Deformable Arm for Narrow Environments

Quaternion-Based Non-Singular Terminal Sliding Mode Control of Quadrotor with a Two-Degree-of-Freedom Deformable Arm for Narrow Environments

Conventional multi-rotors with limited deformation capability are unable to meet the traversal capability of complex and narrow environments. In order to solve the above problems, a novel type of deformable quadrotor with a two-degree-of-freedom arm, named QTDA, is proposed. Firstly, the overall str...

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Bibliographic Details
Main Authors: Luwei Liao, Zhong Yang, Xu Chen, Haoze Zhuo, Hongyu Xu, Nuo Xu, Danguo Cheng
Format: Article
Language:English
Published: MDPI AG 2024-10-01
Series:Drones
Subjects:
narrow environment
non-singular terminal sliding mode control
quadrotor
deformable
quaternion
Online Access:https://www.mdpi.com/2504-446X/8/11/629
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