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Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances

Li Ding, Yong Yao*, Rui Ma
College of Mechanical Engineering, Jiangsu University of Technology, Changzhou, 213000, China
* Corresponding Author: Yong Yao. Email:
(This article belongs to this Special Issue: Advanced Intelligent Decision and Intelligent Control with Applications in Smart City)

Computer Modeling in Engineering & Sciences 2023, 135(2), 1539-1558.

Received 04 April 2022; Accepted 16 May 2022; Issue published 27 October 2022


With the increasing demand for interactive aerial operations, the application of aerial manipulators is becoming more promising. However, there are a few critical problems on how to improve the energetic efficiency and pose control of the aerial manipulator for practical application. In this paper, a novel cable-driven aerial manipulator used for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account. To achieve high precision joint position tracking under lumped disturbances, a newly controller, which consists of three parts: linear extended state observer, adaptive super-twisting strategy, and fractional-order nonsingular terminal sliding mode control, is proposed. The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure. The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem. The Lyapunov method is utilized to prove the overall stability and convergence of the system. Lastly, various visualization simulations and ground experiments are conducted, verifying the effectiveness of our strategy, and all outcomes demonstrate its superiorities over the existing control strategies.


Aerial manipulator; cable-driven; adaptive super-twisting; linear extend state observer; fractional-order nonsingular terminal sliding mode

Cite This Article

Ding, L., Yao, Y., Ma, R. (2023). Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances. CMES-Computer Modeling in Engineering & Sciences, 135(2), 1539–1558.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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