Adaptive robust nonsingular terminal sliding mode design controller for quadrotor aerial manipulator
| Main Authors: | Riache, Samah; Université M’HAMED, Kidouche, Madjid; Université M’HAMED, Rezoug, Amar; Centre de développement des technologies avancées |
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| Format: | Article info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
Universitas Ahmad Dahlan
, 2019
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| Subjects: | |
| Online Access: |
http://journal.uad.ac.id/index.php/TELKOMNIKA/article/view/10470 http://journal.uad.ac.id/index.php/TELKOMNIKA/article/view/10470/6533 |
Daftar Isi:
- In this paper, a novel adaptive control approach for Unmanned Aerial Manipulators (UAMs) is proposed. The UAMs are a new configuration of the Unmanned Arial Vehicles (UAVs) which are characterized by several inhered nonlinearities, uncertainties and coupling. The studied UAM is a Quadrotor endowed with two degrees of freedom robotic arm. The main objectives of our contribution are to achieve both a tracking error convergence by avoiding any singularity problem and also the chattering amplitude attenuation in the presence of perturbations. Therefore, the proposed Adaptive Nonsingular Terminal Super-Twisting controller (ANTSTW) consists of the hybridization of a Nonsingular Terminal Sliding Mode Control and an Adaptive Super Twisting. The adaptive law, which adjust the Super-Twisting’s parameters, is obtained by using stability Lyapunov theorem. Simulation experiments in trajectory tracking mode were realized and compared with Nonsingular Terminal Super-twisting control to prove the superiority and the effectiveness of the proposed approach.