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PD Sliding Mode Controller Based Decoupled Aerial Manipulation

Abstract : This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor. To be considered the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system are derived. The main advantage of the first joint is introduced for more robustness and stability during hovering. The PID controller will be implemented for position and attitude of multirotor control, whereas, a slidingmode controller will be designed for a manipulator robot, which is then compared with the sliding surface that has been integrated with the proportional-derivative (PD) controller. The performance of the proposed technique is demonstrated through a simulation using Simulink and Matlab environment.
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https://hal.archives-ouvertes.fr/hal-02876022
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Submitted on : Friday, June 26, 2020 - 6:36:39 PM
Last modification on : Thursday, September 17, 2020 - 1:08:02 PM

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  • HAL Id : hal-02876022, version 1

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Kamel Bouzgou, Laredj Benchikh, Lydie Nouveliere, Yasmina Bestaoui, Zoubir Ahmed-Foitih. PD Sliding Mode Controller Based Decoupled Aerial Manipulation. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris, France. pp.484--489. ⟨hal-02876022⟩

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