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Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Abstract : This paper presents the control of an aerial manipulator composed of a quadrotor and a manipulator with two degrees of freedom (2 DOF). There is a strong physical coupling between the dynamics of the UAV and the manipulator arm. This coupling along with external perturbations (e.g. wind gusts), considerably affects the stability of the drone's motion in flight which, consequently, affects the desired accuracy of the end effector with respect to its final task. The solution presented here is based on super-twisting sliding mode control with adaptive gain. It is a continuation of previous study on sliding mode control with adaptive gain [1]. The effectiveness of the controller and its robustness against perturbations are verified and analyzed using numerical simulation.
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https://hal.archives-ouvertes.fr/hal-03749293
Contributor : Olivier Kermorgant Connect in order to contact the contributor
Submitted on : Wednesday, August 10, 2022 - 4:12:07 PM
Last modification on : Tuesday, September 27, 2022 - 10:07:38 AM

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  • HAL Id : hal-03749293, version 1

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Hardy Bin Anuar, Franck Plestan, Abdelhamid Chriette, Olivier Kermorgant. Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator. 16th International Workshop on Variable Structure Systems, Sep 2022, Rio de Janeiro, Brazil. ⟨hal-03749293⟩

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