Abstract
This paper presents the altitude and attitude tracking using super twisting sliding mode control (SMC) for a quadrotor-based aerial manipulator. The aerial manipulator model is first derived analytically using the Newton-Euler formulation for the quadrotor and Recursive Newton-Euler formulation for the manipulator. The super twisting SMC for altitude and attitude tracking of the aerial manipulator is then presented. The controller is then tested via simulation for altitude and attitude tracking with manipulator motion and added noise. The results for the super twisting SMC show better tracking performance and reduced chattering when compared to a first-order SMC.
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