Quadrotor-Based Aerial Manipulator Altitude and Attitude Tracking using Adaptive Super-Twisting Sliding Mode Control

被引：0

作者：

Kuchwa-Dube, Chioniso ^{[1
]}

Pedro, Jimoh O. ^{[1
]}

机构：

[1] Univ Witwatersrand, Sch Mech Ind & Aeronaut Engn, Johannesburg, South Africa

来源：

2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS' 19) | 2019年

基金：

新加坡国家研究基金会;

关键词：

D O I：

10.1109/icuas.2019.8797938

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents the altitude and attitude tracking for a quadrotor-based aerial manipulator using adaptive super-twisting sliding mode control. The aerial manipulator model is derived analytically using the Newton-Euler formulation for the quadrotor and the recursive Newton-Euler formulation for the manipulator. The adaptive super-twisting sliding mode control for altitude and attitude tracking of the aerial manipulator is then presented. The controller is tested via simulation for altitude and attitude tracking with manipulator motion, including added disturbances and noise. The results for the adaptive super-twisting sliding mode control show better tracking performance, reduced chattering, and reduced control effort when compared to a standard super-twisting sliding mode control.

引用

页码：144 / 151

页数：8

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