Title: Optimal control design for uncertain aerial manipulator system based on an adaptive approach

Authors: Samah Riache; Madjid Kidouche; Mohamed Zinelabidine Doghmane; Kong Fah Tee

Addresses: The Laboratory of Applied Automatic, Faculty of Hydrocarbons and Chemistry, University M'hamed Bougara, Boumerdes, Algeria; Department of Electrical Engineering, Faculty of Technology, University M'hamed Bougara, Boumerdes, Algeria ' The Laboratory of Applied Automatic, Faculty of Hydrocarbons and Chemistry, University M'hamed Bougara, Boumerdes, Algeria ' The Laboratory of Applied Automatic, Faculty of Hydrocarbons and Chemistry, University M'hamed Bougara, Boumerdes, Algeria; Exploration Division, SONATRACH, Hassi Messaoud, Algeria ' Department of Civil and Environmental Engineering, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia

Abstract: In this paper, an optimal controller has been proposed for an aerial manipulator (AM) consisting of a quadrotor uncertain system with a two-degrees-of-freedom robotic arm. Wherein, the dynamics of this system have been derived based on Gauss's principle. The employment of this principal has permitted the pinpoint of the inner structure of the uncertain system and its possible moves. It has kept the AM in a very precise formation to analyse its dynamics and propose the suitable control. The proposed controller is designed using an adaptive approach of the non-singular terminal sliding mode technique. The main contribution is that the proposed approach guarantees both the good tracking of the desired trajectories in finite time and the chattering effect attenuation without overestimating the switching control gains. The design does not necessitate a priori knowledge of the upper limits of disturbances; the stability of the system has been established through the utilisation of Lyapunov theory. The simulation results have proved the effectiveness and robustness of the proposed optimal nonlinear terminal sliding mode technique for such an uncertain system in comparison to the sliding mode controller.

Keywords: adaptive algorithm; chattering; quadrotor; sliding mode control; disturbances.

DOI: 10.1504/IJAAC.2024.139438

International Journal of Automation and Control, 2024 Vol.18 No.4, pp.425 - 443

Received: 19 Mar 2023
Accepted: 28 Jul 2023
Published online: 02 Jul 2024 *

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