Robust Control for Unmanned Aerial Manipulator Under Disturbances

• Main Authors: Yanjie Chen, Weiwei Zhan, Bingwei He, Lixiong Lin, Zhiqiang Miao, Xiaofang Yuan, Yaonan Wang
• Format: Article
• Language: English
• Published: IEEE 2020-01-01
• Series: IEEE Access
• Subjects: Adaptive control; center of gravity shift; disturbance observer; sliding mode control; unmanned aerial manipulator
• Online Access: https://ieeexplore.ieee.org/document/9139470/

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.