Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator - Archive ouverte HAL Access content directly
Conference Papers Year : 2022

Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Abstract

This paper presents the control of an aerial manipulator composed of a quadrotor and a manipulator with two degrees of freedom (2 DOF). There is a strong physical coupling between the dynamics of the UAV and the manipulator arm. This coupling along with external perturbations (e.g. wind gusts), considerably affects the stability of the drone's motion in flight which, consequently, affects the desired accuracy of the end effector with respect to its final task. The solution presented here is based on super-twisting sliding mode control with adaptive gain. It is a continuation of previous study on sliding mode control with adaptive gain [1]. The effectiveness of the controller and its robustness against perturbations are verified and analyzed using numerical simulation.
Fichier principal
Vignette du fichier
2022_VSS_Hanuar_sliding_mode.pdf (691.13 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03749293 , version 1 (10-08-2022)

Identifiers

  • HAL Id : hal-03749293 , version 1

Cite

Hardy Bin Anuar, Franck Plestan, Abdelhamid Chriette, Olivier Kermorgant. Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator. 16th International Workshop on Variable Structure Systems, Sep 2022, Rio de Janeiro, Brazil. ⟨hal-03749293⟩
118 View
189 Download

Share

Gmail Mastodon Facebook X LinkedIn More