Adaptive Sliding Mode Control
This code derives the full dynamic model and control of Aerial Manipulator in Euler Lagrangian form.
The reference for the dynamics and control law are below:
- S. Kim, S. Choi, and H. J. Kim, Aerial manipulation using a quadrotor with a two DOF robotic arm, in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nov. 2013, pp. 49904995.
Please run
Script_AdSMC.m
Note this files calls the relevant simulink file. Go through the steps inside to realise what's happening inside the code.
For necssary dynamics and kinematics please review my paper also: A very similar control and dynamics can be found in my paper: Thapa S., Bai H. and Acosta J.A. Cooperative Aerial Load Transport with Force Control. IFAC Workshop on Networked & Autonomous Air & Space Systems, June, 2018
