KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Dynamic Surface Control Based Tracking Control for a Drone Equipped with a Manipulator
Authors	이근욱(Lee, Keun-Uk) ; 최윤호(Choi, Yoon-Ho)
DOI	https://doi.org/10.5370/KIEE.2017.66.7.1123
Page	pp.1123-1130
ISSN	1975-8359
Keywords	Manipulator equipped drone ; Quadrotor ; Dynamic surface control ; Reaction torque
Abstract	This paper deals with the dynamic surface control based tracking control for a drone equipped with a 2-DOF manipulator. First, the dynamics of drone and 2-DOF manipulator are derived separately. And we obtain the combined model of a drone equipped with a manipulator considering the inertia and the reactive torque generated by a manipulator. Second, a dynamic surface control based attitude and altitude control method is presented. Also, multiple sliding mode control based position control method is presented. The system stability and convergence of tracking errors are proven using Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.

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