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

Adriana Guayasamin, Paulo Leica, Marco Herrera, Oscar Camacho

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas36-41
Número de páginas6
ISBN (versión digital)9781538676127
DOI
EstadoPublicada - 5 dic. 2018
Publicado de forma externa
Evento3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 - Quito, Ecuador
Duración: 14 nov. 201816 nov. 2018

Serie de la publicación

NombreProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Volumen2018-December

Conferencia

Conferencia3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
País/TerritorioEcuador
CiudadQuito
Período14/11/1816/11/18

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