Super-Twisting Sliding Mode Based Nonlinear Control for Dual-Arm Unmanned Aerial Manipulator Systems

With high maneuverability and large work space, dual-arm unmanned aerial manipulator systems have shown great application potential in load transportation and coordinate manipulation. However, the presence of dual-arm may introduce security risks to the system as the manipulator's movements can alter the CoM (center of mass) of the system. Additionally, the system's complex dynamic coupling and strong nonlinearity present major challenges. To mitigate the uncertain effect exerting on the UAV caused by the dual-arm and mitigate potential external disturbances, a super-twisting based controller is specifically designed for the dual-arm aerial manipulator system. The proposed controller incorporates a nonlinear switching function and is designed based on the first-order derivative of the control input, which has the properties of continuous control input and effective disturbance rejection. Subsequently, it is demonstrated that the system's state converges within a finite period of time. Finally, comprehensive simulation results are presented, demonstrating the controller's effectiveness even in the presence of external disturbances.