Gains-Scheduling Tracking Control for Quadrotors Under Ground Effects Via NTSMC-sLPV

This paper is devoted to the tracking control problem of a quadrotor in near-ground tasks, where the aerodynamic force of propellers impaired by ground effects is considered. TAES-R1 By combining the altitude-related additional forces caused by ground effects, the dynamic model of the quadrotor in near-ground tasks is formulated, upon which a triple-loop tracking control frame for quadrotor control is carried out, unlike the existing studies that only consider the vertical landing process. According to whether the dynamic model of the loop is coupled, the non-singular terminal sliding mode control (NTSMC) and the switched linear parameter varying (sLPV) approaches are utilized for control design, respectively, TAES-R1 where the robustness is discussed since the ground effects cannot be measured precisely. The designed NTSMC-sLPV controller TAES-R1 schedules the control parameters for both position and attitude control under the TAES-R1 measurements of the ground effects, which has not been considered before. By the typical scenarios for near-ground tasks including position tracking and attitude adjusting, respectively, the effectiveness and advantages of the designed NTSMC-sLPV controllers are demonstrated.