LAMDA Controller Applied to the Trajectory Tracking of an Aerial Manipulator

Abstract

In this work, a novel LAMDA (Learning Algorithm for Multivariable Data Analysis) control strategy for trajectory tracking for an aerial manipulator is presented. Four control strategies are developed: Kinematic, Inverse Dynamics, Sliding Mode (SMC), and LAMDA. These are compared with each other in order to verify their performance to fulfill the control objective. Experimental tests were also carried out to validate the developed controllers. In addition, a study of stability has been also performed for all the controllers. The results obtained by the LAMDA controller demonstrated the good performance of the controller in the aerial manipulator robot. To the best of our knowledge, this is the first time a LAMDA controller has been applied to an aerial robotic manipulator.

Keywords

• aerial manipulator
• inverse dynamics
• kinematic
• LAMDA
• trajectory tracking
• SMC