Design of multiple sliding surface control system for a quadrotor equipped with a manipulator

Nam Eung Hwang, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

Original languageEnglish
Pages (from-to)502-507
Number of pages6
JournalJournal of Institute of Control, Robotics and Systems
Volume22
Issue number7
DOIs
Publication statusPublished - 2016 Jan 1

Fingerprint

Manipulator
Manipulators
Control System
Control systems
Control surfaces
Controller
Controllers
Lyapunov Stability Theory
Tracking Control
Lagrange
Inertia
Torque
Euler
Computer Simulation
Design
Model
Converge
Angle
Path
Formulation

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Cite this

@article{2af6ac60dd9848ff9ab715d27ace3b5e,
title = "Design of multiple sliding surface control system for a quadrotor equipped with a manipulator",
abstract = "In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.",
author = "Hwang, {Nam Eung} and Park, {Jin Bae} and Choi, {Yoon Ho}",
year = "2016",
month = "1",
day = "1",
doi = "10.5302/J.ICROS.2016.16.0043",
language = "English",
volume = "22",
pages = "502--507",
journal = "Journal of Institute of Control, Robotics and Systems",
issn = "1976-5622",
publisher = "Institute of Control, Robotics and Systems",
number = "7",

}

Design of multiple sliding surface control system for a quadrotor equipped with a manipulator. / Hwang, Nam Eung; Park, Jin Bae; Choi, Yoon Ho.

In: Journal of Institute of Control, Robotics and Systems, Vol. 22, No. 7, 01.01.2016, p. 502-507.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Design of multiple sliding surface control system for a quadrotor equipped with a manipulator

AU - Hwang, Nam Eung

AU - Park, Jin Bae

AU - Choi, Yoon Ho

PY - 2016/1/1

Y1 - 2016/1/1

N2 - In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

AB - In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

UR - http://www.scopus.com/inward/record.url?scp=84995977427&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84995977427&partnerID=8YFLogxK

U2 - 10.5302/J.ICROS.2016.16.0043

DO - 10.5302/J.ICROS.2016.16.0043

M3 - Article

AN - SCOPUS:84995977427

VL - 22

SP - 502

EP - 507

JO - Journal of Institute of Control, Robotics and Systems

JF - Journal of Institute of Control, Robotics and Systems

SN - 1976-5622

IS - 7

ER -