Journal of Aerospace Science and Technology

Journal of Aerospace Science and Technology

Precise Dynamic Modeling and Super-Twisting Sliding Mode Control for an Articulated Aerial Robot in Capturing Process

Document Type : Original Article

Authors
Mirshams Baha 1
Fariborz Saghafi 2
1 PhD Candidate, Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran
2 Associate Professor, Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran
10.22034/jast.2024.441765.1172
Abstract
By carefully investigating the motion of birds of prey, it is seen that in addition to the legs, the claws and their gimbal dynamics play an important role in successful grasping of the specified target. Therefore, in order to achieve an avian-inspired robot, it is essential to consider these degrees of freedom. Having added these degrees of freedom, a precise dynamic analysis is needed to extract the auxiliary equations of motion by which the control design for such an under-actuated multiple-servo articulated flying vehicle system will be possible and in turn, servos’ signals are producible. In this respect, the aim of this study is presenting an extended model of a hunting quadrotor in planar motion and showing the significance of detailed kinetic analysis in designing a model-based controller for the system in pursuit phase. Given the high nonlinearity and dynamic coupling in this integrated system, along with the presence of intense uncertainties and atmospheric and impulsive disturbances, super-twisting sliding mode control (STSMC) is designed and its performance compared with SMC is evaluated through simulation based on some standard metrics.
Keywords
Dynamic modeling
Aerial robot
Pursuit phase
Super-twisting sliding mode control
Simulation

Subjects

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Journal of Aerospace Science and Technology
Volume 17, Issue 2
October 2024
Pages 47-56

  • Receive Date 06 February 2024
  • Revise Date 15 December 2024
  • Accept Date 18 December 2024
  • First Publish Date 20 December 2024