@inproceedings{ba26eb1256284fc3af6b5821f7e6c729,
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",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 ; Conference date: 14-11-2018 Through 16-11-2018",
year = "2018",
month = dec,
day = "5",
doi = "10.1109/INCISCOS.2018.00013",
language = "Ingl{\'e}s",
series = "Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "36--41",
booktitle = "Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018",
}