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Design of Multiple Sliding Surface Control System for a Quadrotor Equipped with a Manipulator

매니퓰레이터 장착 쿼드로터를 위한 다중 슬라이딩 평면 제어의 시스템 설계

  • Hwang, Nam Eung (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
  • 황남웅 (연세대학교 전기전자공학부) ;
  • 박진배 (연세대학교 전기전자공학부) ;
  • 최윤호 (경기대학교 전자공학과)
  • Received : 2016.02.24
  • Accepted : 2016.06.04
  • Published : 2016.07.01

Abstract

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

Acknowledgement

Supported by : 한국연구재단, 정보통신기술진흥센터

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