Control of an Over-Actuated Quadrotor Manipulator Based on Backstepping Integral Sliding Mode

Shilin Yi, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design and verification of a robust controller for the trajectory tracking problem of an over-Actuated quadrotor manipulator. The quadrotor is equipped with four variable-Tilt rotors. A 2-DOF manipulator is attached to the belly of the quadrotor. The position and orientation of the quadrotor can be controlled independently. The robust trajectory tracking controller presented in this paper combines the backstepping control and integral sliding mode control. It's confirmed that the end effector of the over-Actuated quadrotor manipulator is capable of tracking an arbitrary desired 6-DOF trajectory accurately despite external disturbances by a simulation.

Original languageEnglish
Title of host publication2021 7th IEEE International Conference on Advances in Computing, Communication and Control, ICAC3 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665426343
DOIs
Publication statusPublished - 2021
Event7th IEEE International Conference on Advances in Computing, Communication and Control, ICAC3 2021 - Mumbai, India
Duration: Dec 3 2021Dec 4 2021

Publication series

Name2021 7th IEEE International Conference on Advances in Computing, Communication and Control, ICAC3 2021

Conference

Conference7th IEEE International Conference on Advances in Computing, Communication and Control, ICAC3 2021
Country/TerritoryIndia
CityMumbai
Period12/3/2112/4/21

Keywords

  • backstepping
  • integral sliding mode
  • quadrotor manipulator
  • variable-Tilt rotors

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Information Systems and Management
  • Media Technology
  • Control and Optimization

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