Enhanced Impedance Control of Cable-Driven Unmanned Aerial Manipulators Using Fractional-Order Nonsingular Terminal Sliding Mode Control with Disturbance Observer Integration

The article presents a novel control strategy for cable-driven aerial manipulators (UAMs) aimed at enhancing impedance control during contact operations in complex environments. A fractional-order nonsingular terminal sliding mode control (FONTSMC) integrated with a disturbance observer (DOB) is pro...

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Bibliographic Details

Published in:	Fractal and Fractional
Main Authors:	Li Ding, Tian Xia, Rui Ma, Dong Liang, Mingyue Lu, Hongtao Wu
Format:	Article
Language:	English
Published:	MDPI AG 2024-09-01
Subjects:	unmanned aerial manipulator impedance control sliding mode control fractional-order disturbance observer
Online Access:	https://www.mdpi.com/2504-3110/8/10/579