Aerial manipulation—A literature survey

Khamseh, Hossein Bonyan; Janabi–Sharifi, Farrokh; Abdessameud, Abdelkader

doi:10.1016/j.robot.2018.06.012

Cited by 185 publications

(99 citation statements)

References 138 publications

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“…For example, the first flights with airplanes with no human onboard occurred before the first successful airplane flights in 1903 by the Wright brothers. In 1896, Samuel Pierpont Langley's team successfully flew a much smaller steam-powered airplane model more than 3/4 of a mile (Anderson 2008). The aircraft was not under any control during the flight -relying on inherent stability alone.…”

Section: History Of Unmanned Aerial Vehiclesmentioning

confidence: 99%

Unmanned Aerial Vehicle (UAV)

Johnson

2020

Encyclopedia of Systems and Control

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The rapidly evolving field of unmanned aerial vehicles, drones, or, more simply, an aircraft without a pilot in it, is considered by many to be a cutting-edge technology. At the same time, it has a surprisingly long history. This article summarizes the history of the unmanned aircraft, deals with some of many definitions that confuse newcomers to this topic, and summarizes where things stand on the related technology and policy.

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Section: History Of Unmanned Aerial Vehiclesmentioning

confidence: 99%

Unmanned Aerial Vehicle (UAV)

Johnson

2020

Encyclopedia of Systems and Control

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“…Their ability to reach the skies with no need of infrastructure, high maneuverability and lower cost, noise, emissions and complexity than conventional helicopters has made them useful in applications such as search and rescue operations, infrastructure inspection, traffic monitoring, agriculture or filming. While most of these tasks exclusively make use of the sensing capabilities of the vehicles, physical interaction of aerial vehicles with their environment and with humans is currently being investigated in fields like aerial manipulation (see [1] and [2]) and it could broaden the scope of this technology to activities such as work in hazardous conditions, natural disaster cleanup, remote infrastructure maintenance, pick and place operations or even last-mile logistics and human transportation.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of an overactuated aerial vehicle with four tiltable quadrotors attached by means of passive universal joints

Iriarte

Otaola

Culla

et al. 2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

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We present a novel overactuated aerial vehicle based on four quadrotors connected to an airframe by means of passive universal joints. The proposed architecture allows to independently control the six degrees of freedom of the airframe without having fixed propellers at inefficient configurations or making use of dedicated rotor tilting actuators. After deriving the dynamic equations that describe its motion, we propose a linear control strategy that is able to successfully decouple rotation and translation, relying exclusively on on-board sensors. A prototype is built and preliminary experimental results demonstrate that the concept is feasible. Video: https://youtu.be/9ASP3FyhCJw.

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“…In recent years, aerial manipulation has become a hot research topic in the field of UAVs [1,2]. To complete aerial manipulation tasks, researchers have integrated tools with UAVs.…”

Section: Introductionmentioning

confidence: 99%

Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator

Zhang

Dai

et al. 2019

Applied Sciences

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An aerial manipulator is a new kind of flying robot system composed of a rotorcraft unmanned aerial vehicle (UAV) and a multi-link robotic arm. It gives the flying robot the capacity to complete manipulation tasks. Steady flight is essential for an aerial manipulator to complete manipulation tasks. This paper focuses on the steady flight control performance of the aerial manipulator. A separate control strategy is used in the aerial manipulator system, in which the UAV and the manipulator are controlled separately. In order to complete tasks in environments with strong wind disturbance, an acceleration feedback enhanced robust H∞ controller was designed for the UAV in the aerial manipulator. The controller is based on the hierarchical inner-outer loop control structure of the UAV and composed of a robust H∞ controller and acceleration feedback enhanced term, which is used to compensate for the wind disturbance. Experimental results of aerial grasping of a target object show that the controller can suppress the wind disturbance effectively, and make the aerial manipulator hover steadily with sufficient accuracy to complete aerial manipulation tasks in strong wind.

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Aerial manipulation—A literature survey

Cited by 185 publications

References 138 publications

Unmanned Aerial Vehicle (UAV)

Unmanned Aerial Vehicle (UAV)

Modeling and control of an overactuated aerial vehicle with four tiltable quadrotors attached by means of passive universal joints

Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator

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