Yunping Liu1, 2, *, Xingxing Yan1, Fei Yan1, Ze Xu1, Weiyan Shang3
CMC-Computers, Materials & Continua, Vol.63, No.1, pp. 469-487, 2020, DOI:10.32604/cmc.2020.05746
Abstract Due to the coupled motion between the rotor unmanned aerial vehicle (UAV) and the manipulator, the underactuation characteristics of the system itself, and the influence of external uncertainties, the stability of the rotor UAV’s manipulator control system is difficult to control. Based on the dynamic model of the rotor UAV, the stability of the whole UAV manipulator control system is improved by using the piecewise cost function, the compression factor particle swarm optimization (PSO) algorithm and the sliding mode PID to establish the sliding mode PID control stability method based on the PSO. Compared with the sliding mode PID control… More >
Login
Register
