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Adaptive_Sliding_Mode_Control_of_Aerial_Manipulator

Adaptive Sliding Mode Control

This code derives the full dynamic model and control of Aerial Manipulator in Euler Lagrangian form.

The reference for the dynamics and control law are below:

  1. S. Kim, S. Choi, and H. J. Kim, Aerial manipulation using a quadrotor with a two DOF robotic arm, in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nov. 2013, pp. 49904995.

Please run

Script_AdSMC.m

Note

These files calls the relevant simulink file. Go through the steps inside to realise what's happening inside the code.

This code was shared primarily for reference and as an educational example to support student research and learning. I would encourage users to study and understand the underlying concepts rather than copying and running the code without a solid grasp of the fundamentals.

For necssary dynamics and kinematics please review my paper also: A very similar control and dynamics can be found in my paper: Thapa S., Bai H. and Acosta J.A. Cooperative Aerial Load Transport with Force Control. IFAC Workshop on Networked & Autonomous Air & Space Systems, June, 2018

Results

Aerial Manipulator

Control Law

Adaptive Sliding Mode Controller of Aerial Manipulator

Postion History

Attitude History

References

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Springer, 2006.

Robotics: Modelling, Planning and Control , Bruno Siciliano , Lorenzo Sciavicco, Luigi Villani , Giuseppe Oriolo

S. Kim, S. Choi, and H. J. Kim, Aerial manipulation using a quadrotor with a two DOF robotic arm, in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nov. 2013, pp. 49904995.

Thapa S., Bai H. and Acosta J.A. Cooperative Aerial Load Transport with Force Control. IFAC Workshop on Networked & Autonomous Air & Space Systems, June, 2018

Contact

thapasandesh1@gmail.com