PD Sliding Mode Controller Based Decoupled Aerial Manipulation

Kamel Bouzgou (1, 2) , Laredj Benchikh (1) , Lydie Nouveliere (1) , Yasmina Bestaoui (1) , Zoubir Ahmed-Foitih (2)

1 IBISC - Informatique, BioInformatique, Systèmes Complexes
2 Laboratory of Power Systems, Solar Energy and Automation L.E.P.E.S.A

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.

Keywords: Decoupled Dynamic System; Sliding Mode Control; SMC; PD-SMC; Aerial Manipulation

Domains: Automatic

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⟩