LAMDA Controller Applied to the Trajectory Tracking of an Aerial Manipulator

被引：7

作者：

Andaluz, Gabriela M. ^{[1
,2
]}

Morales, Luis ^{[3
]}

Leica, Paulo ^{[3
]}

Andaluz, Victor H. ^{[4
]}

Palacios-Navarro, Guillermo ^{[2
]}

机构：

[1] Univ Int Ecuador, Escuela Ingn Mecatron, Quito 170411, Ecuador

[2] Univ Zaragoza, Dept Elect Engn & Commun, Teruel 44003, Spain

[3] Escuela Politec Nacl, Dept Automatizac & Control, Quito 170517, Ecuador

[4] Univ Fuerzas Armadas ESPE, Dept Elect & Elect, Sangolqui 171103, Ecuador

来源：

APPLIED SCIENCES-BASEL | 2021年 / 11卷 / 13期

关键词：

aerial manipulator; inverse dynamics; kinematic; LAMDA; trajectory tracking; SMC; fuzzy; multivariable; ALGORITHM;

D O I：

10.3390/app11135885

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

In this work, a novel LAMDA (Learning Algorithm for Multivariable Data Analysis) control strategy for trajectory tracking for an aerial manipulator is presented. Four control strategies are developed: Kinematic, Inverse Dynamics, Sliding Mode (SMC), and LAMDA. These are compared with each other in order to verify their performance to fulfill the control objective. Experimental tests were also carried out to validate the developed controllers. In addition, a study of stability has been also performed for all the controllers. The results obtained by the LAMDA controller demonstrated the good performance of the controller in the aerial manipulator robot. To the best of our knowledge, this is the first time a LAMDA controller has been applied to an aerial robotic manipulator.

引用

页数：21

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