LAMDA Controller Applied to the Trajectory Tracking of an Aerial Manipulator

Applied Sciences

Luis Morales¹  Paulo Leica¹  Víctor H. Andaluz²  Guillermo Palacios-Navarro³  Gabriela M. Andaluz⁴ 

[1] Departamento de Automatización y Control, Escuela Politécnica Nacional, Quito 170517, Ecuador;Departamento de Eléctrica y Electrónica, Universidad de las Fuerzas Armadas ESPE, Sangolquí 171103, Ecuador;Department of Electronic Engineering and Communications, University of Zaragoza, 44003 Teruel, Spain;Escuela de Ingeniería Mecatrónica, Universidad Internacional del Ecuador, Quito 170411, Ecuador;

关键词: aerial manipulator;    inverse dynamics;    kinematic;    LAMDA;    trajectory tracking;    SMC;   

DOI  :  10.3390/app11135885

来源: DOAJ

【 摘 要 】

In this work, a novel LAMDA (Learning Algorithm for Multivariable Data Analysis) control strategy for trajectory tracking for an aerial manipulator is presented. Four control strategies are developed: Kinematic, Inverse Dynamics, Sliding Mode (SMC), and LAMDA. These are compared with each other in order to verify their performance to fulfill the control objective. Experimental tests were also carried out to validate the developed controllers. In addition, a study of stability has been also performed for all the controllers. The results obtained by the LAMDA controller demonstrated the good performance of the controller in the aerial manipulator robot. To the best of our knowledge, this is the first time a LAMDA controller has been applied to an aerial robotic manipulator.

【 授权许可】

Unknown