@inproceedings{d685038160b243e8832e60c2c798ff37,
title = "Control of Quadrotor Equipped with a Two DOF Robotic Arm",
abstract = "The quadrotor equipped with a robotic arm has been applied to many fields recently. This paper deals with the problem of quadrotor stabilization and trajectory tracking equipped with a 2-DOF robotic arm. By considering the robotic arm as an independent part to affect the center of gravity (COG) of the vehicle, the kinematic and dynamic models are derived. The controller for the whole system is designed with two stages. First, a backstepping sliding mode controller is applied to position tracking (outer loop) and generating desired attitudes for inner loop. Then a backstepping controller with integral action is built for attitude stabilization (inner loop). In addition, a COG compensation system is developed for the controller to cope with the COG variation caused by movement of the robotic arm. Finally, several simulations demonstrate the effectiveness of the proposed control approaches.",
keywords = "backstepping sliding mode, COG compensation, integral action, quadrotor, robotic arm",
author = "Ran Jiao and Mingjie Dong and Rui Ding and Wusheng Chou",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 ; Conference date: 18-07-2018 Through 20-07-2018",
year = "2019",
month = jan,
day = "11",
doi = "10.1109/ICARM.2018.8610770",
language = "英语",
series = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "437--442",
booktitle = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",
address = "美国",
}