Sliding mode based laser-beam auto-alignment for laser interferometry-based localisation of multirotor helicopter

Robert Porter, Bijan Shirinzadeh, Man Ho Choi, Umesh Bhagat

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2 Citations (Scopus)

Abstract

This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise localisation of multirotor helicopters. A sliding mode-based control architecture is developed incorporating position measurements from the laser measurement system. The control architecture facilitates the auto-alignment of a laserbeam emanating from the laser measurement system and a retroreflector mounted on the target multirotor helicopter. The dynamics model of the multirotor helicopter is developed in order to define the sliding-mode based control law to effectuate position and motion control. A computational analysis of the computational stability of the control algorithm is performed. Further, an experimental research facility is established with a 4-rotor multirotor helicopter and a laser interferometry-based sensing and measurement system. Experimental analysis offers evidence that the sliding mode-based control architecture is able to maintain incident laser-beam and retroreflector alignment, facilitating continuous, real-time precise position measurements. It is further demonstrated that the sliding mode-based control architecture outperforms a proportional-derivative-based control architecture delivering the same functionality.
Original languageEnglish
Title of host publication2015 IEEE Conference on Control Applications (CCA)
EditorsReza Moheimani
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1428 - 1433
Number of pages6
ISBN (Print)9781479977871
DOIs
Publication statusPublished - 2015
EventIEEE International Conference on Control Applications 2015 - Sydney, Australia
Duration: 21 Sep 201523 Sep 2015
https://ieeexplore.ieee.org/xpl/conhome/7302355/proceeding (Proceedings)

Conference

ConferenceIEEE International Conference on Control Applications 2015
Abbreviated titleCCA 2015
CountryAustralia
CitySydney
Period21/09/1523/09/15
Internet address

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