PD Sliding Mode Controller based Decoupled Aerial Manipulation

Kamel Bouzgou, Laredj Benchikh, Lydie Nouveliere, Yasmina Bestaoui, Zoubir Ahmed-Foitih

2020

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 sliding mode 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.

Paper Citation

in Harvard Style

Bouzgou K., Benchikh L., Nouveliere L., Bestaoui Y. and Ahmed-Foitih Z. (2020). PD Sliding Mode Controller based Decoupled Aerial Manipulation.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 484-489. DOI: 10.5220/0009856704840489

in Bibtex Style

@conference{icinco20,
author={Kamel Bouzgou and Laredj Benchikh and Lydie Nouveliere and Yasmina Bestaoui and Zoubir Ahmed-Foitih},
title={PD Sliding Mode Controller based Decoupled Aerial Manipulation},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={484-489},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009856704840489},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - PD Sliding Mode Controller based Decoupled Aerial Manipulation
SN - 978-989-758-442-8
AU - Bouzgou K.
AU - Benchikh L.
AU - Nouveliere L.
AU - Bestaoui Y.
AU - Ahmed-Foitih Z.
PY - 2020
SP - 484
EP - 489
DO - 10.5220/0009856704840489