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• W2910050814 abstract "In this paper, a novel adaptive control approach for Unmanned Aerial Manipulators (UAMs) is proposed. The UAMs are a new configuration of the Unmanned Arial Vehicles (UAVs) which are characterized by several inhered nonlinearities, uncertainties and coupling. The studied UAM is a Quadrotor endowed with two degrees of freedom robotic arm. The main objectives of our contribution are to achieve both a tracking error convergence by avoiding any singularity problem and also the chattering amplitude attenuation in the presence of perturbations. Therefore, the proposed Adaptive Nonsingular Terminal Super-Twisting controller (ANTSTW) consists of the hybridization of a Nonsingular Terminal Sliding Mode Control and an Adaptive Super Twisting. The adaptive law, which adjust the Super-Twisting’s parameters, is obtained by using stability Lyapunov theorem. Simulation experiments in trajectory tracking mode were realized and compared with Nonsingular Terminal Super-twisting control to prove the superiority and the effectiveness of the proposed approach." @default.
• W2910050814 created "2019-01-25" @default.
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• W2910050814 date "2019-06-01" @default.
• W2910050814 modified "2023-09-27" @default.
• W2910050814 title "Adaptive robust nonsingular terminal sliding mode design controller for quadrotor aerial manipulator" @default.
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• W2910050814 doi "https://doi.org/10.12928/telkomnika.v17i3.10470" @default.
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