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

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

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