TY - GEN
T1 - Trajectory tracking control for aerial manipulator based on lyapunov and sliding mode control
AU - Guayasamin, Adriana
AU - Leica, Paulo
AU - Herrera, Marco
AU - Camacho, Oscar
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/5
Y1 - 2018/12/5
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.
KW - Aerial manipulator
KW - IAE index
KW - Lyapunov
KW - SMC
UR - http://www.scopus.com/inward/record.url?scp=85063191302&partnerID=8YFLogxK
U2 - 10.1109/INCISCOS.2018.00013
DO - 10.1109/INCISCOS.2018.00013
M3 - Contribución a la conferencia
AN - SCOPUS:85063191302
T3 - Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
SP - 36
EP - 41
BT - Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Y2 - 14 November 2018 through 16 November 2018
ER -