Time-parametrization control of quadrotors with a robust quaternion-based sliding mode controller for aggressive maneuvering

In this paper, we introduce the concept of time parametrization for Quadrotor flight maneuvers establishing a novel, robust and model free feedback controller based on a quaternion representation without singularities. Three prominent features are remarked: firstly, the control algorithm assures exponential stability of the full position/attitude dynamics of the system with smooth control efforts. Secondly, the closed-loop system is robust in presence of external forces and induced moments generated during the flight maneuvers. Finally, the controlled Quadrotor offers capabilities for aggressive maneuvers. Additionally, based on time-based generators, the sliding mode gives rise to well-posed terminal stability, parametrized by a desired convergence time defined by the user, independently of initial conditions and feedback gains. This allows tasks, such as cooperative Quadrotor, or force and interaction task, to be solved on a nonlinear and simplified setting. Simulations are presented in several scenarios in order to carry out a wide idea of our approach.