Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control

Adriana Guayasamin, Paulo Leica, Marco Herrera, Oscar Camacho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

In this paper, modelling and control for an aerial manipulator is presented. The kinematic model of the aerial manipulator is determined by combining the kinematic model of a quadcopter and a robotic arm of 3 Degree Of Freedom (DOF). A trajectory tracking control is designed, this is based on Lyapunov theory and Sliding Mode Control (SMC), designing from the kinematic model. The performance of controls are tested through MATLAB simulations, where two types of trayectory square and circular are realized. In order to evaluate of performance for the aerial manipulator with Lyapunov control and Sliding Mode Control, the Integral Absolute Error (IAE) index is used.

Original languageEnglish
Title of host publicationProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages36-41
Number of pages6
ISBN (Electronic)9781538676127
DOIs
StatePublished - 5 Dec 2018
Externally publishedYes
Event3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 - Quito, Ecuador
Duration: 14 Nov 201816 Nov 2018

Publication series

NameProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Volume2018-December

Conference

Conference3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Country/TerritoryEcuador
CityQuito
Period14/11/1816/11/18

Keywords

  • Aerial manipulator
  • IAE index
  • Lyapunov
  • SMC

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