Robust Control for Unmanned Aerial Manipulator Under Disturbances

Abstract

Unmanned aerial manipulator (UAM) is usually a combination of a quadrotor and a robotic arm that can exert active influences on the environments. The control problems of the UAM system include model uncertainty caused by its center of gravity shift and external disturbances from the environments. To handle these two disturbances, a tracking control strategy is proposed for position and attitude control of the UAM in this paper. In particular, the model of the UAM is established considering with center of gravity shift and disturbances from environments. In the position control, both internal disturbances and external disturbances are compensated by using a sliding mode controller. In the attitude control, an adaptive law is designed to estimate internal disturbances, and a disturbance observer is designed to estimate external disturbances. The stability analysis of the proposed controller is provided and the effectiveness of the proposed method is verified in simulation.

Attitude Control of a Quadrotor with Fuzzy Logic Controller on SO(3)

“…Attitudes of quadrotor (rigid body) have a set of 3 × 3 orthogonal matrix, whose determinant is one, known as Special Orthogonal 𝑆𝑂(3) [3]. Different control techniques have been developed to improve the ability of quadrotors, such as PID [4]- [7], sliding-mode [8]- [10], and fuzzy logic [11]- [13]. In addition, the combination of conventional control algorithms with artificial intelligence algorithms has been developed.…”

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

“…The fuzzy controller reduces the chattering effect of SMC. Chen et al [6] discuss tracking control strategy due to internal and external disturbance. These disturbance are handled in two parts: a position controller using a robust SMC and an attitude controller using an adaptive controller with disturbance observer.…”

Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

“…The strategy make use both an extended state observer and a dynamic centre of mass disturbance compensator for disturbance observation. Chen et al [21] discuss tracking control strategy due to internal and external disturbance. These disturbance are handled in two parts.…”