TY - JOUR
T1 - Backstepping control for a UAV-manipulator tuned by Cuckoo Search algorithm
AU - Rodríguez-Abreo, Omar
AU - Ornelas-Rodríguez, Francisco Javier
AU - Ramírez-Pedraza, Alfonso
AU - Hurtado-Ramos, Juan B.
AU - González-Barbosa, José Joel
N1 - Publisher Copyright:
© 2021 Elsevier B.V.
PY - 2021/10/1
Y1 - 2021/10/1
N2 - AbstractManipulators coupled with an Unmanned Aerial Vehicle (UAV) have made it possible to perform aerial handling, transport, and picking maneuvers. One of the techniques used to control these systems is a backstepping controller that has shown high performance compared to a PID in the face of uncertainties and parametric disturbances. This paper presents the study of a backstepping controller for a mobile manipulator (MM–UAV) system tuned with the Cuckoo Search algorithm (CS) for trajectory tracking. Unlike other research, this study focuses on optimization using this metaheuristic algorithm that has never been applied in an MM–UAV. The system is divided in a novel way to implement the CS, considering the dependence of each rotation axis with the correspondence translation axis. Additionally, the tuning focuses on two critical points of the dynamic response, the overshoot and settling time. The results at the simulation and experimental level show that for all cases, a settling time of fewer than 0.8 s and overshoot is minor than 2%. This allows a balanced response of the system, which directly impacts energy consumption. The results are compared with a PID controller to verify the proposed work efficiency, showing a reduction of up to 8% of overshoots without exceeding in any experiment the maximum settling time of 0.8 s imposed to the system. © 2021 Elsevier B.V.
AB - AbstractManipulators coupled with an Unmanned Aerial Vehicle (UAV) have made it possible to perform aerial handling, transport, and picking maneuvers. One of the techniques used to control these systems is a backstepping controller that has shown high performance compared to a PID in the face of uncertainties and parametric disturbances. This paper presents the study of a backstepping controller for a mobile manipulator (MM–UAV) system tuned with the Cuckoo Search algorithm (CS) for trajectory tracking. Unlike other research, this study focuses on optimization using this metaheuristic algorithm that has never been applied in an MM–UAV. The system is divided in a novel way to implement the CS, considering the dependence of each rotation axis with the correspondence translation axis. Additionally, the tuning focuses on two critical points of the dynamic response, the overshoot and settling time. The results at the simulation and experimental level show that for all cases, a settling time of fewer than 0.8 s and overshoot is minor than 2%. This allows a balanced response of the system, which directly impacts energy consumption. The results are compared with a PID controller to verify the proposed work efficiency, showing a reduction of up to 8% of overshoots without exceeding in any experiment the maximum settling time of 0.8 s imposed to the system. © 2021 Elsevier B.V.
KW - Backstepping control
KW - Cuckoo Search algorithm
KW - Manipulator
KW - Optimal control
KW - Unmanned aerial vehicle
KW - Backstepping control; Cuckoo Search algorithm; Manipulator; Optimal control; Unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=85116741117&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/3bcab497-306e-3489-ae06-cfef759ac461/
U2 - 10.1016/j.robot.2021.103910
DO - 10.1016/j.robot.2021.103910
M3 - Artículo
AN - SCOPUS:85116741117
SN - 0921-8890
VL - 147
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 103910
ER -