This article investigates the control and modeling of a multi-rotor fire-fighting system, consisting of a multi-rotor along with a connected water hose. The introduced system has applications in the field of polic operations, including the ability to provide quick services and support to defense teams in dealing with explosions and fires, as well as ensuring public safety. Considering the unpredictable behavior of the hose and aiming for system stability against external disturbances, including reactive forces from water spray, hose weight, and wind force, an adaptive sliding mode control method has been used. The controller has been implemented on a 16-rotor system, taking into account the reactive force from water spray in the design algorithm. The highest range of variations is related to the pitch angle, for which a new structure has been introduced to reduce it and improve the rotational status of the multi-rotor. This new structure has two additional rotors compared to the previous structure. The results obtained from the adaptive sliding mode control method are compared with the Combined Model Reference Adaptive Control (CMRAC) method, which is considered as a linear adaptive robust method. The results confirm the need for the use of a robustness nonlinear algorithm for the intended application in this research. According to the studies, the proposed structure has not been used in any previous research. Additionally, at the end of this research, the justification and necessity of using such a structure in terms of arrangement and number of rotors are explained.

Keywords