PD Sliding Mode Controller Based Decoupled Aerial Manipulation
| Autor: | Zoubir Ahmed-Foitih, Laredj Benchikh, Lydie Nouveliere, Kamel Bouzgou, Yasmina Bestaoui |
|---|---|
| Přispěvatelé: | Informatique, BioInformatique, Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay, Laboratory of Power Systems, Solar Energy and Automation L.E.P.E.S.A, Université des sciences et de la Technologie d'Oran Mohamed Boudiaf [Oran] (USTO MB), Davesne, Frédéric |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Computer science
Aerial Manipulation 0211 other engineering and technologies Sliding Mode Control PID controller 02 engineering and technology Sliding mode control [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics Robustness (computer science) Control theory 0502 economics and business MATLAB Decoupled Dynamic System computer.programming_language SMC 05 social sciences 021107 urban & regional planning [SPI.AUTO] Engineering Sciences [physics]/Automatic Dynamic models PD-SMC Robot Multirotor Robotic arm computer 050203 business & management |
| Zdroj: | 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020) 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris, France. pp.484--489 ICINCO |
| Popis: | International audience; This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor. To be considered the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system are derived. The main advantage of the first joint is introduced for more robustness and stability during hovering. The PID controller will be implemented for position and attitude of multirotor control, whereas, a slidingmode controller will be designed for a manipulator robot, which is then compared with the sliding surface that has been integrated with the proportional-derivative (PD) controller. The performance of the proposed technique is demonstrated through a simulation using Simulink and Matlab environment. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|