摘要：AbstractTilt-rotor quadcopters can effectively decouple translational and rotational dynamics, which makes them suitable candidates for aerial manipulation tasks. This is achieved by tilting the individual propellers to generate forces in any direction with respect to its body frame. This paper addresses the port trajectory tracking of a tilt-rotor quadcopter while following an independent attitude profile. We propose a sliding mode controller for the trajectory tracking of a rigid port mounted on the tilt-rotor quadcopter. Attitude is represented using rotation matrices to ensure global representation. We illustrate simultaneous tracking of port and attitude profiles numerically.
