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Optimal Joint Space Control of a Cable-Driven Aerial Manipulator

Li Ding1,*, Rui Ma1, Zhengtian Wu2, Rongzhi Qi1, Wenrui Ruan1

1 College of Mechanical Engineering, Jiangsu University of Technology, Changzhou, 213000, China
2 School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, 215123, China

* Corresponding Author: Li Ding. Email: email

(This article belongs to the Special Issue: Advanced Intelligent Decision and Intelligent Control with Applications in Smart City)

Computer Modeling in Engineering & Sciences 2023, 135(1), 441-464.


This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode (FNTSM) manifold and a linear extended state observer (LESO). The developed control method applies an FNTSM to ensure the tracking performance’s control accuracy, and an LESO to estimate the system’s unmodeled dynamics and external disturbances. Additionally, an improved salp swarm algorithm (ISSA) is employed to parameter tune the suggested controller by integrating the salp swarm technique with a cloud model. This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics models. The simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances, and the ISSA can help the proposed controller find optimal control parameters.


Cite This Article

APA Style
Ding, L., Ma, R., Wu, Z., Qi, R., Ruan, W. (2023). Optimal joint space control of a cable-driven aerial manipulator. Computer Modeling in Engineering & Sciences, 135(1), 441-464.
Vancouver Style
Ding L, Ma R, Wu Z, Qi R, Ruan W. Optimal joint space control of a cable-driven aerial manipulator. Comput Model Eng Sci. 2023;135(1):441-464
IEEE Style
L. Ding, R. Ma, Z. Wu, R. Qi, and W. Ruan "Optimal Joint Space Control of a Cable-Driven Aerial Manipulator," Comput. Model. Eng. Sci., vol. 135, no. 1, pp. 441-464. 2023.

cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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