Trajectory-tracking control based on backstepping hyperbolic tangent sliding mode control for aerial manipulators

Abstract Aerial manipulators, as a novel robotic system combining the flexibility of drones and the operational capability of robotic arms, offer significant potential for complex manipulation tasks in diverse environments. However, achieving precise operation tasks with these systems is challenging due to system uncertainty and external disturbances. This paper presents a novel trajectory-tracking control strategy for aerial manipulators using a combination of backstepping and hyperbolic tangent sliding mode control. The backstepping design decomposes the aerial manipulator’s complex system into subsystems, allowing for the step-by-step design of control laws for each subsystem. This method ensures the stability of each step. Additionally, the integration of a hyperbolic tangent sliding surface into each control law ensures smooth transitions and robust performance against disturbances. Simulation results demonstrate that the composite controller exhibits superior tracking control performance when facing external disturbances.