Position Guidance and Control for Fully Actuated Multirotor Aerial Vehicles in Dynamic Environments

Resumo

This paper is concerned with the robust position guidance and control of fully actuated multirotor
aerial vehicles subject to velocity constraint in dynamic environments involving external disturbances. The overall

method consists of an outer-loop guidance based on an acceleration-velocity-obstacles strategy and an inner stabi-
lizing control loop based on an integral sliding mode policy. The guidance strategy generates velocity commands

to reach a target position while avoiding collision with moving obstacles and respecting velocity bounds. On the
other hand, the integral sliding mode ensures that the velocity commands are, in theory, exactly tracked all the
time. The proposed method is numerically evaluated using a fully actuated octacopter and shows to be effective.