LAMDA Controller Applied to the Trajectory Tracking of an Aerial Manipulator
Source abstract
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.
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Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Fuzzy Logic and Control Systems · Advanced Control Systems Design
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Escuela de Ingeniería Mecatrónica, Universidad Internacional del Ecuador, Quito 170411, Ecuador
Department of Electronic Engineering and Communications, University of Zaragoza, 44003 Teruel, Spain
Departamento de Automatización y Control, Escuela Politécnica Nacional, Quito 170517, Ecuador
Departamento de Eléctrica y Electrónica, Universidad de las Fuerzas Armadas ESPE, Sangolquí 171103, Ecuador
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