The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Dynamic Surface Control Based Tracking Control for a Drone Equipped with a Manipulator

동적 표면 제어 기반의 매니퓰레이터 장착 드론의 추종 제어

  • Lee, Keun-Uk (Dept. of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon-Ho (Dept. of Electronic Engineering, Kyonggi University)
  • Received : 2017.06.09
  • Accepted : 2017.06.20
  • Published : 2017.07.01
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Abstract

This paper deals with the dynamic surface control based tracking control for a drone equipped with a 2-DOF manipulator. First, the dynamics of drone and 2-DOF manipulator are derived separately. And we obtain the combined model of a drone equipped with a manipulator considering the inertia and the reactive torque generated by a manipulator. Second, a dynamic surface control based attitude and altitude control method is presented. Also, multiple sliding mode control based position control method is presented. The system stability and convergence of tracking errors are proven using Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.

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References

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