Kuchwa-Dube, Chioniso (University of the Witwatersrand), Pedro, Jimoh Olarewaju (University of the Witwatersrand)

Quadrotor-Based Aerial Manipulator Altitude and Attitude Tracking Using Adaptive Super-Twisting Sliding Mode Control

Scheduled for presentation during the Regular Session "Control Architectures I" (WeA4), Wednesday, June 12, 2019, 10:00−10:20, Savannah

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents the altitude and attitude tracking for a quadrotor-based aerial manipulator using adaptive super-twisting sliding mode control. The aerial manipulator model is derived analytically using the Newton-Euler formulation for the quadrotor and the recursive Newton-Euler formulation for the manipulator. The adaptive super-twisting sliding mode control for altitude and attitude tracking of the aerial manipulator is then presented. The controller is tested via simulation for altitude and attitude tracking with manipulator motion, including added disturbances and noise. The results for the adaptive super-twisting sliding mode control show better tracking performance, reduced chattering, and reduced control effort when compared to a standard super-twisting sliding mode control.