Optimal Path Planning and Control of a Hexarotor with Mass Uncertainty in the Presence of Dynamic Obstacles and Wind Using Sliding Mode and Adaptive PSO Algorithm

This article proposes a sliding mode and a feedback linearization controller for position and attitude control of a hexarotor with an uncertain mass under effect of wind. Also, a constrained adaptive particles swarm optimization (APSO) algorithm is used to find the optimal path and avoid moving obstacles with time-varying radiuses. Furthermore, the stability proof of the controllers for this case is presented. Finally, the results of simulations are utilized to present the operation of the proposed controllers and path planning algorithm performance.