Modeling and trajectory tracking by robust control of a hexacopter with a 3-D OF manipulator arm

摘要

This paper presents the modeling and control of an aerial manipulation system that consists of two subsystems: an aerial platform represented by a hexacopter (DJI F550) and a lightweight three-degree-of-freedom (3-DOF) manipulator arm that can be easily integrated into our hexacopter. We also propose a new approach to modeling aerial manipulation systems based on the dynamics of floating base systems with tree structures, such as those studied in bio-inspired soft robotics and space robotics. This system presents many challenges, such as asymmetry, continuously changing inertia, and the center of gravity. These challenges pose a significant control problem in the trajectory tracking of an aerial manipulation robot. For this reason, a robust control technique based on the sliding mode controller is proposed to achieve a high accuracy 3D trajectory tracking objective. Finally, numerical simulations were conducted to demonstrate the efficacy of the suggested technique.