Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros
This paper presents a novel control framework for enhancing the attitude stabilization of multirotor UAVs using Control Moment Gyros (CMGs) and a Disturbance Robust Drive Law (DRDL). Due to their lightweight and compact structure, multirotor UAVs are highly susceptible to disturbances such as wind,...
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/24/8212 |
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| author | Youyoung Yang Sungsu Kim Kwanghyun Lee Henzeh Leeghim |
| author_facet | Youyoung Yang Sungsu Kim Kwanghyun Lee Henzeh Leeghim |
| author_sort | Youyoung Yang |
| collection | DOAJ |
| description | This paper presents a novel control framework for enhancing the attitude stabilization of multirotor UAVs using Control Moment Gyros (CMGs) and a Disturbance Robust Drive Law (DRDL). Due to their lightweight and compact structure, multirotor UAVs are highly susceptible to disturbances such as wind, making it challenging to achieve stable attitude control using rotor thrust alone. To address this issue, we employ CMGs to provide robust attitude control and apply Fast Terminal Sliding Mode Control (FTSMC) to ensure fast and accurate convergence within a finite time. The combination of CMGs’ torque amplification capability with the DRDL enables the system to effectively avoid singularities and maintain stable control performance in the presence of disturbances. Simulation results demonstrate that the CMG-equipped hexarotor utilizing the DRDL rapidly converges to the target attitude despite external disturbances, while minimizing oscillations in both motor speed and gimbal movement. Additionally, compared to the pseudo-inverse control method, the proposed approach significantly improves singularity avoidance and disturbance mitigation. The proposed control framework enhances the stability and reliability of UAV operations and demonstrates its potential for high-performance control in challenging disturbance environments. |
| format | Article |
| id | doaj-art-ccd8aa5242da475a80f5fbb45fce5f90 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-ccd8aa5242da475a80f5fbb45fce5f902024-12-27T14:53:20ZengMDPI AGSensors1424-82202024-12-012424821210.3390/s24248212Disturbance Robust Attitude Stabilization of Multirotors with Control Moment GyrosYouyoung Yang0Sungsu Kim1Kwanghyun Lee2Henzeh Leeghim3MOASOFT Co., Ltd., Seoul 05770, Republic of KoreaMOASOFT Co., Ltd., Seoul 05770, Republic of KoreaMOASOFT Co., Ltd., Seoul 05770, Republic of KoreaDepartment of Aerospace Engineering, Chosun University, Gwangju 61452, Republic of KoreaThis paper presents a novel control framework for enhancing the attitude stabilization of multirotor UAVs using Control Moment Gyros (CMGs) and a Disturbance Robust Drive Law (DRDL). Due to their lightweight and compact structure, multirotor UAVs are highly susceptible to disturbances such as wind, making it challenging to achieve stable attitude control using rotor thrust alone. To address this issue, we employ CMGs to provide robust attitude control and apply Fast Terminal Sliding Mode Control (FTSMC) to ensure fast and accurate convergence within a finite time. The combination of CMGs’ torque amplification capability with the DRDL enables the system to effectively avoid singularities and maintain stable control performance in the presence of disturbances. Simulation results demonstrate that the CMG-equipped hexarotor utilizing the DRDL rapidly converges to the target attitude despite external disturbances, while minimizing oscillations in both motor speed and gimbal movement. Additionally, compared to the pseudo-inverse control method, the proposed approach significantly improves singularity avoidance and disturbance mitigation. The proposed control framework enhances the stability and reliability of UAV operations and demonstrates its potential for high-performance control in challenging disturbance environments.https://www.mdpi.com/1424-8220/24/24/8212Control Moment GyroDisturbance Robust Drive LawFast Terminal Sliding Mode ControlUAV attitude stabilizationsingularity avoidance |
| spellingShingle | Youyoung Yang Sungsu Kim Kwanghyun Lee Henzeh Leeghim Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros Sensors Control Moment Gyro Disturbance Robust Drive Law Fast Terminal Sliding Mode Control UAV attitude stabilization singularity avoidance |
| title | Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros |
| title_full | Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros |
| title_fullStr | Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros |
| title_full_unstemmed | Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros |
| title_short | Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros |
| title_sort | disturbance robust attitude stabilization of multirotors with control moment gyros |
| topic | Control Moment Gyro Disturbance Robust Drive Law Fast Terminal Sliding Mode Control UAV attitude stabilization singularity avoidance |
| url | https://www.mdpi.com/1424-8220/24/24/8212 |
| work_keys_str_mv | AT youyoungyang disturbancerobustattitudestabilizationofmultirotorswithcontrolmomentgyros AT sungsukim disturbancerobustattitudestabilizationofmultirotorswithcontrolmomentgyros AT kwanghyunlee disturbancerobustattitudestabilizationofmultirotorswithcontrolmomentgyros AT henzehleeghim disturbancerobustattitudestabilizationofmultirotorswithcontrolmomentgyros |