# 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 language English 502-507 6 Journal of Institute of Control, Robotics and Systems 22 7 https://doi.org/10.5302/J.ICROS.2016.16.0043 Published - 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

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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.",
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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

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