Transactions of Nanjing University of Aeronautics & Astronautics
Time-Delay Collaborative Control of Multiple Aerial Manipulators Using Nonsingular Terminal Sliding Mode
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Abstract:
To enhance the overall performance of multiple aerial manipulators under complex lumped disturbances， a nonsingular terminal sliding mode （NTSM） controller based on time-delay estimation （TDE） and deviation coupling control （DCC） is proposed. The stability of the controller is proven using the Lyapunov stability theory. Comparative experiments are conducted using a system of multiple aerial manipulators. The results demonstrate that， compared with a PID controller based on TDE， the proposed controller reduces the integral of absolute error （IAE）， integral of time-weighted absolute error （ITAE）， and integral of squared error （ISE） by at least 45.8%， 44.1%， and 66.5% respectively， thereby achieving superior overall control performance.
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Project Supported:
This work was supported in part by the National Natural Science Foundation of China （Nos.52575120，52175097） and Key Research and Development Program of Zhejiang （No.2024SSYS0089）.
Clc Number:
TN925
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