Open Access
ARTICLE
Abstract
With the increasing demand for interactive aerial operations, the application of aerial manipulators is becoming
more promising. However, there are a few critical problems on how to improve the energetic efficiency and pose
control of the aerial manipulator for practical application. In this paper, a novel cable-driven aerial manipulator used
for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which
takes joint flexibility into account. To achieve high precision joint position tracking under lumped disturbances,
a newly controller, which consists of three parts: linear extended state observer, adaptive super-twisting strategy,
and fractional-order nonsingular terminal sliding mode control, is proposed. The linear extended state observer
is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control
structure. The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are
combined together to achieve good control performance and counteract chattering problem. The Lyapunov method
is utilized to prove the overall stability and convergence of the system. Lastly, various visualization simulations and
ground experiments are conducted, verifying the effectiveness of our strategy, and all outcomes demonstrate its
superiorities over the existing control strategies.
Keywords
Cite This Article
APA Style
Ding, L., Yao, Y., Ma, R. (2023). Observer-based control for a cable-driven aerial manipulator under lumped disturbances. Computer Modeling in Engineering & Sciences, 135(2), 1539-1558. https://doi.org/10.32604/cmes.2022.023003
Vancouver Style
Ding L, Yao Y, Ma R. Observer-based control for a cable-driven aerial manipulator under lumped disturbances. Comput Model Eng Sci. 2023;135(2):1539-1558 https://doi.org/10.32604/cmes.2022.023003
IEEE Style
L. Ding, Y. Yao, and R. Ma "Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances," Comput. Model. Eng. Sci., vol. 135, no. 2, pp. 1539-1558. 2023. https://doi.org/10.32604/cmes.2022.023003