TY - GEN
T1 - A Robust Hybrid Fuzzy-Fuzzy Cascade and Sliding Mode Control Scheme for Tracking in Aerial Manipulators
AU - Andaluz, Gabriela M.
AU - Leica, Paulo
AU - Palacios-Navarro, Guillermo
AU - Camacho, Oscar
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This paper presents a robust hybrid control strategy based on a fuzzy-fuzzy cascade architecture combined with a sliding mode control (SMC) scheme for trajectory tracking in an aerial manipulator. The primary objective of the fuzzy-fuzzy cascade control is to enhance the robustness of conventional fuzzy controllers by leveraging their adaptability and flexibility, while simultaneously incorporating the strong robustness properties of SMC. A PID-based sliding surface is implemented within the SMC component, and its gains are tuned through fuzzy logic. The proposed controller integrates the dynamic model of the aerial manipulator into its structure, which contributes to compensating for system nonlinearities. Specifically, the dynamic model provides structural compensation for nonlinearities, the cascade fuzzy scheme estimates and adapts to parametric uncertainties, and the SMC ensures robustness against unmodeled disturbances. Simulation tests were conducted to evaluate the performance of the control law in trajectory tracking. Furthermore, the system was subjected to model uncertainties and external disturbances. The results demonstrate the effective performance and robustness of the proposed control approach, achieving improvements in the ISE ranging from 52% to 96% compared to other control techniques.
AB - This paper presents a robust hybrid control strategy based on a fuzzy-fuzzy cascade architecture combined with a sliding mode control (SMC) scheme for trajectory tracking in an aerial manipulator. The primary objective of the fuzzy-fuzzy cascade control is to enhance the robustness of conventional fuzzy controllers by leveraging their adaptability and flexibility, while simultaneously incorporating the strong robustness properties of SMC. A PID-based sliding surface is implemented within the SMC component, and its gains are tuned through fuzzy logic. The proposed controller integrates the dynamic model of the aerial manipulator into its structure, which contributes to compensating for system nonlinearities. Specifically, the dynamic model provides structural compensation for nonlinearities, the cascade fuzzy scheme estimates and adapts to parametric uncertainties, and the SMC ensures robustness against unmodeled disturbances. Simulation tests were conducted to evaluate the performance of the control law in trajectory tracking. Furthermore, the system was subjected to model uncertainties and external disturbances. The results demonstrate the effective performance and robustness of the proposed control approach, achieving improvements in the ISE ranging from 52% to 96% compared to other control techniques.
KW - Robust Nonlinear Control
KW - Sliding mode control
KW - aerial manipulator
KW - cascade control
KW - fuzzy logic control
KW - hybrid control system
UR - https://www.scopus.com/pages/publications/105038048484
U2 - 10.1109/CHILECON66915.2025.11476540
DO - 10.1109/CHILECON66915.2025.11476540
M3 - Contribución a la conferencia
AN - SCOPUS:105038048484
T3 - Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon
BT - 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025
A2 - Lefranc, Gaston
A2 - Cubillos, Claudio
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025
Y2 - 28 October 2025 through 30 October 2025
ER -