Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm

摘要

The control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes a newadaptive control strategy of quadrotor equipped with a 2-degree-of-freedom robotic arm. To consider the positionalvariety of the center of gravity caused by the motion of the robotic arm, the kinematic and dynamic models are built.Based on the presented models, a backstepping and sliding mode controller with a terminal sliding mode manifold is firstapplied to cope with the condition in which the robotic arm is motionless relative to the quadrotor. As the evolvementof the backstepping and sliding mode controller, a novel adaptive backstepping and sliding mode controller is thendesigned for the vehicle with the robotic arm wavering. The robustness and effectiveness of the proposed control laware investigated through both simulations and flight tests. With the proposed control laws, several simulations are conducted in conditions of both a variable and a constant center of gravity, and the performance of hovering is tested with avariable center of gravity in an experiment. Overall results show that the proposed adaptive backstepping control couldestimate and compensate the variable center of gravity which may seriously influence the stabilization of quadrotor flyingin the air.