Robust fractional-order fast terminal sliding mode control of aerial manipulator derived from a mutable inertia parameters model

TL;DR

This paper proposes a robust fractional-order sliding mode control strategy for aerial manipulators with mutable inertia, improving stability and disturbance rejection through a novel dynamic model and stability analysis.

Contribution

It introduces a new control method based on fractional-order sliding mode control for aerial manipulators considering mutable inertia parameters, enhancing robustness against coupling disturbances.

Findings

The proposed control achieves stable flight under coupling disturbances.

Simulation results demonstrate the superiority of the method over existing approaches.

The stability of the control system is theoretically proven.

Abstract

The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode control (FOFTSMC) strategy based on mutable inertia parameters is proposed in this paper. First, the dynamics of aerial manipulator with consideration of the coupling disturbance is derived by utilizing mutable inertia parameters. Then, based on the dynamic model, a robust FOFTSMC algorithm is designed to make the system fly steadily under coupling disturbance. Furthermore, stability analysis is conducted to prove the convergence of tracking errors. Finally, comparative simulation results are given to show the validity and superiority of the proposed scheme.