Proxy-based Super Twisting Control Algorithm for Aerial Manipulators

TL;DR

This paper introduces a proxy-based super twisting control method for aerial manipulators, enhancing stability and control accuracy during manipulator motion by mitigating disturbances, validated through simulations.

Contribution

It presents a novel proxy-based super twisting control algorithm specifically designed for aerial manipulators to improve stability during complex maneuvers.

Findings

Enhanced stability in aerial manipulation tasks

Effective disturbance mitigation during manipulator movement

Validated control performance through simulations

Abstract

Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance control capabilities. However, the coupling effect between the multi-rotor UAVs' movement poses a challenge to the entire system's control capability. We have proposed a new proxy-based super twisting control approach for quadrotor UAVs that mitigates the disturbance caused by moving manipulators. This approach helps improve the stability of the aerial manipulation system when carrying out hovering or trajectory tracking tasks. The controller's effectiveness has been validated through numerical simulation and further tested in the Gazebo simulation environment.