Mahmoudabadi, Parvin (Free University of Bozen-Bolzano), von Ellenrieder, Karl (Libera Universita di Bolzano), Moroder, Moritz (FlyingBasket), Moroder, Matthias (FlyingBasket)

Parameters Estimation and Higher-Order Sliding Mode Control Design for Coaxial Octorotors: Hardware-In-The-Loop Validation

Scheduled for presentation during the Regular Session "Aerial and Space Robots" (WeBT4), Wednesday, July 16, 2025, 14:40−15:00, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper addresses the challenge of parameter estimation and controller design for a newly constructed COUAV. Initially, an experimental test, namely the gravitational and torsional pendulum method, is conducted to estimate the moment of inertia. The torque and thrust factors are determined by fitting a model to the data obtained from the motors used in the COUAV. Subsequently, a Multiple-Input-Multiple-Output (MIMO) higher-order SMC is developed to enable precise tracking performance regarding coupled states. Ultimately, Hardware-In-the-Loop (HIL) simulation is utilized to evaluate the proposed controller's effectiveness.