Fuzzy sliding mode control for rotorcraft aerial manipulator with extended state observer

The rotorcraft aerial manipulator (RAM) system can realize the active operation on the target object in the flight state, which has nonlinear and strong coupling characteristics. The movement of the manipulator may cause structural change of the system and disturb the attitude of the unmanned aerial vehicle (UAV), which would affect flight stability and operation accuracy. This paper designed a fuzzy sliding mode controller with extended state observer (ESO-FSMC) for UAV attitude control. Firstly, the model of the RAM is established. Secondly, an ESO-FSMC controller is designed for attitude control of the RAM. Finally, verifying the performance of the designed algorithm on MATLAB. The result shows the proposed method can ensure good stability and robustness.