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

Adriana Guayasamin; Paulo Leica; Marco Herrera; Oscar Camacho

doi:10.1109/INCISCOS.2018.00013

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

Adriana Guayasamin, Paulo Leica, Marco Herrera, Oscar Camacho

Escuela Politecnica Nacional

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 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 language	English
Title of host publication	Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	36-41
Number of pages	6
ISBN (Electronic)	9781538676127
DOIs	https://doi.org/10.1109/INCISCOS.2018.00013
State	Published - 5 Dec 2018
Externally published	Yes
Event	3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 - Quito, Ecuador Duration: 14 Nov 2018 → 16 Nov 2018

Publication series

Name	Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Volume	2018-December

Conference

Conference	3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Country/Territory	Ecuador
City	Quito
Period	14/11/18 → 16/11/18

Keywords

Aerial manipulator
IAE index
Lyapunov
SMC

Access to Document

10.1109/INCISCOS.2018.00013

Cite this

Guayasamin, A., Leica, P., Herrera, M., & Camacho, O. (2018). Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control. In Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 (pp. 36-41). Article 8564505 (Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INCISCOS.2018.00013

Guayasamin, Adriana ; Leica, Paulo ; Herrera, Marco et al. / Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control. Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 36-41 (Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018).

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title = "Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control",

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.",

keywords = "Aerial manipulator, IAE index, Lyapunov, SMC",

author = "Adriana Guayasamin and Paulo Leica and Marco Herrera and Oscar Camacho",

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year = "2018",

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series = "Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018",

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Guayasamin, A, Leica, P, Herrera, M & Camacho, O 2018, Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control. in Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018., 8564505, Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018, vol. 2018-December, Institute of Electrical and Electronics Engineers Inc., pp. 36-41, 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018, Quito, Ecuador, 14/11/18. https://doi.org/10.1109/INCISCOS.2018.00013

Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control. / Guayasamin, Adriana; Leica, Paulo; Herrera, Marco et al.
Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 36-41 8564505 (Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018; Vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Herrera, Marco

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N2 - 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.

AB - 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.

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KW - IAE index

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KW - SMC

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Guayasamin A, Leica P, Herrera M, Camacho O. Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control. In Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 36-41. 8564505. (Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018). doi: 10.1109/INCISCOS.2018.00013

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

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Keywords

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