Altitude and Attitude Tracking of a Quadrotor-Based Aerial Manipulator using Super Twisting Sliding Mode Control
| Autor: | Jimoh O. Pedro, Chioniso Kuchwa-Dube |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Altitude (triangle) Computer science Noise (signal processing) 02 engineering and technology Tracking (particle physics) Sliding mode control Computer Science::Robotics Attitude control 020901 industrial engineering & automation Computer Science::Systems and Control Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Manipulator Altitude control |
| Zdroj: | ICCMA |
| DOI: | 10.1145/3284516.3284548 |
| Popis: | This paper presents the altitude and attitude tracking using super twisting sliding mode control (SMC) for a quadrotor-based aerial manipulator. The aerial manipulator model is first derived analytically using the Newton-Euler formulation for the quadrotor and Recursive Newton-Euler formulation for the manipulator. The super twisting SMC for altitude and attitude tracking of the aerial manipulator is then presented. The controller is then tested via simulation for altitude and attitude tracking with manipulator motion and added noise. The results for the super twisting SMC show better tracking performance and reduced chattering when compared to a first-order SMC. |
| Databáze: | OpenAIRE |
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