Trajectory Tracking Control for Aerial Manipulator Based on Lyapunov and Sliding Mode Control

Abstract

In this paper, modelling and control for an aerial manipulator is presented. The kinematic model of the aerial manipulator is determined by combining the kinematic model of a quadcopter and a robotic arm of 3 Degree Of Freedom (DOF). A trajectory tracking control is designed, this is based on Lyapunov theory and Sliding Mode Control (SMC), designing from the kinematic model. The performance of controls are tested through MATLAB simulations, where two types of trayectory square and circular are realized. In order to evaluate of performance for the aerial manipulator with Lyapunov control and Sliding Mode Control, the Integral Absolute Error (IAE) index is used.