Non-singular Terminal Sliding Mode Compliance Control of Aerial Manipulator Based on Disturbance Observer

doi:10.16356/j.1005-1120.2023.S2.010

Transactions of Nanjing University of Aeronautics & Astronautics

+Advanced Search

Archive > Volume Issue S2 > 2023(S2):69-76. DOI:10.16356/j.1005-1120.2023.S2.010 Prev Next

Non-singular Terminal Sliding Mode Compliance Control of Aerial Manipulator Based on Disturbance Observer

Article
Figures
Metrics
Preview PDF
Reference
Related
Cited by
Materials

Abstract:

Aiming at the contact operation problem of aerial manipulator， a non-singular terminal sliding mode compliant control algorithm for aerial manipulator based on disturbance observer is designed. The algorithm introduces disturbance observer on the basis of nonsingular terminal sliding mode control. The disturbance is estimated to reduce the system estimation error， the disturbance of the manipulator and the influence of external disturbance on the rotorcraft. Finally， the simulation results show that the proposed controller has good robustness. Meanwhile， it can reduce the system estimation error， the disturbance of the manipulator and the external disturbance， and ensure the stability of the contact force under smooth movement.

Keywords:

Project Supported:

This work was supported in part by the National Natural Science Foundation of China （No. 52175097）.

Clc Number:

TP249