Control of an Over-actuated Quadrotor Manipulator Based on Backstepping Integral Sliding Mode

This paper presents the design and verification of a robust controller for the trajectory tracking problem of an over-actuated quadrotor manipulator. The quadrotor is equipped with four variable-tilt rotors. A 2-DOF manipulator is attached to the belly of the quadrotor. The position and orientation of the quadrotor can be controlled independently. The robust trajectory tracking controller presented in this paper combines the backstepping control and integral sliding mode control. It's confirmed that the end effector of the over-actuated quadrotor manipulator is capable of tracking an arbitrary desired 6-DOF trajectory accurately despite external disturbances by a simulation.