TY - GEN
T1 - Proxy-based Super Twisting Control Algorithm for Aerial Manipulators
AU - Hua, Zhengyu
AU - Xu, Bowen
AU - Xing, Li
AU - Quan, Fengyu
AU - Xiong, Xiaogang
AU - Chen, Haoyao
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance control capabilities. However, the coupling effect between the multi-rotor UAVs' movement poses a challenge to the entire system's control capability. We have proposed a new proxy-based super twisting control approach for quadrotor UAVs that mitigates the disturbance caused by moving manipulators. This approach helps improve the stability of the aerial manipulation system when carrying out hovering or trajectory tracking tasks. The controller's effectiveness has been validated through numerical simulation and further tested in the Gazebo simulation environment.
AB - Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance control capabilities. However, the coupling effect between the multi-rotor UAVs' movement poses a challenge to the entire system's control capability. We have proposed a new proxy-based super twisting control approach for quadrotor UAVs that mitigates the disturbance caused by moving manipulators. This approach helps improve the stability of the aerial manipulation system when carrying out hovering or trajectory tracking tasks. The controller's effectiveness has been validated through numerical simulation and further tested in the Gazebo simulation environment.
UR - https://www.scopus.com/pages/publications/85174686171
U2 - 10.1109/CYBER59472.2023.10256474
DO - 10.1109/CYBER59472.2023.10256474
M3 - 会议稿件
AN - SCOPUS:85174686171
T3 - Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
SP - 390
EP - 395
BT - Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
Y2 - 11 July 2023 through 14 July 2023
ER -