Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator

Abaunza, Hernán; Castillo, Pedro; Victorino, Alessandro Corrêa; Lozano, Rogelio

doi:10.1007/s10846-017-0519-4

Cited by 40 publications

(22 citation statements)

References 33 publications

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“…While v is the angular velocity. The external torque can be defined by the sum of the mobile link torque and the cable link torque as, = + (29) While the torque because of the cable link is given as = [̅̅̅ ⊗ ⊗ ] + (30) Whereas mc is the cable mass, is the transformation constant inspired from [27], g is the gravitational constant, and Ic is the inertial cable matrix.…”

Section: External Mounted Arm On Uavmentioning

confidence: 99%

Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

Ali

Han

2021

IEEE Access

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This study proposes a control method for the maneuvering control of an aircraft system equipped with a cable-driven gripper. The UAV chosen for the study is a hex-rotor due to its durability and redundancy. The reason for opting for the cable-driven robotic arm is because of its extended range as compared to a fixed robotic arm. The aircraft system also contains an Ultra HD camera which helps to locate and identify the target object. Since the UAV grabs the object, the extra weight introduces some instability in the system. To help stabilize the dynamic behavior of the gripper and reduce external wind disturbance, we need an effective and robust control mechanism. To tackle these issues, this paper designs a control method based on the Model Reference Adaptive Control with an integrator (MRACI) with reference dynamics like an observer. On one hand, first, verify the performance of the proposed controller using computer-based simulations. On the other hand, it also applies the designed method to hardware-based results. The simulations and experimental results show that the designed controller works as intended and the errors are within an acceptable range.

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Section: External Mounted Arm On Uavmentioning

confidence: 99%

Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

Ali

Han

2021

IEEE Access

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“…Otherwise, singularity-free unit quaternion representation of the vehicle attitude can always be adopted, see [97], [98]. A mathematical extension of the unit quaternion representation, namely dual-quaternion representation, has been recently formulated to address kinematic and dynamic modeling of a MUAV [99]. An important advantage of dual-quaternion modeling of a MUAV is that it results in relatively simple transformations for consecutive rotations and translations of reference frames.…”

Section: End Effectormentioning

confidence: 99%

Estimation and control of a manipulating unmanned aerial vehicle

Khamseh¹

2021

Preprint

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A Manipulating Unmanned Aerial Vehicle (MUAV) is an aerial platform equipped with a mechanism to physically interact with its environment. The interaction is realized by means of robotic arm(s), vehicle body or suspension cable(s) and enables a wide range of novel applications including perching, grasping, pick–and–place, load transportation, etc. However, this is a challenging task as MUAVs are inherently unstable platforms with highly nonlinear and coupled dynamics, often associated with moving parts that result in complex modelling, estimation and control problems. This thesis deals with the problem of estimation and control of MUAVs. First, a comprehensive literature survey covering various aspects of MUAVs such as those related to modelling, estimation and control is presented. In the first approach for MUAV state estimation and control, effects of robotic manipulator on Unmanned Aerial Vehicle (UAV) dynamic equations of motion is treated by adding process noise with unknown noise statistics to conventional UAV dynamic model. With that in mind, state estimating and control of a UAV by means of conventional Kalman filters and their adaptive counterparts are formulated. Having designed Linear Quadratic Regulator (LQR) laws, it is shown that adaptive Kalman filters provide accurate satisfactory estimation and overall control of a UAV, even with simultaneous uncertain process and measurement noise statistics. Next, in order to improve the estimation and overall control performance of the previous approach, full nonlinear and coupled dynamic modelling of a MUAV based on Euler–Lagrange formulation is presented. Then, a General Unscented Kalman Filter (GUKF) is proposed to accomplish full state estimation of a MUAV, along with LQR control laws. Finally, in order to improve the execution time of GUKF, a computationally–efficient UKF known as Scaled Spherical UKF (SSUKF) with estimation and overall control performance comparable to GUKF is formulated. It is shown that both UKF–based algorithms result in satisfactory estimation and setpoint/trajectory tracking of quadcopter UAV and its robotic manipulator, even in scenarios with increased noise level and a period of total outage of sensory data.

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“…(a) Free body diagram of quadrotor aerial vehicle equipped with gripper 24 and (b) actual UAV model.…”

Section: System Modelmentioning

confidence: 99%

Modeling and controlling of quadrotor aerial vehicle equipped with a gripper

Ali

2019

Measurement and Control

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Arm mounted unmanned aerial vehicles provide more feasible and attractive solution to manipulate objects in remote areas where access to arm mounted ground vehicles is not possible. In this research, an under-actuated quadrotor unmanned aerial vehicle model equipped with gripper is utilized to grab objects from inaccessible locations. A dual control structure is proposed for controlling and stabilization of the moving unmanned aerial vehicle along with the motions of the gripper. The control structure consists of model reference adaptive control augmented with an optimal baseline controller. Although model reference adaptive control deals with the uncertainties as well as attitude controlling of unmanned aerial vehicle, baseline controller is utilized to control the gripper, remove unwanted constant errors and disturbances during arm movement. The proposed control structure is applied in 6-degree-of-freedom nonlinear model of a quadrotor unmanned aerial vehicle equipped with gripper having (2 degrees of freedom) robotic limb; it is applicable for the simulations to desired path of unmanned aerial vehicle and to grasp object. Moreover, the efficiency of the presented control structure is compared with optimal baseline controller. It is observed that the proposed control algorithm has good transient behavior, better robustness in the presence of continuous uncertainties and gripper movement involved in the model of unmanned aerial vehicle.

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Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator

Cited by 40 publications

References 33 publications

Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

Estimation and control of a manipulating unmanned aerial vehicle

Modeling and controlling of quadrotor aerial vehicle equipped with a gripper

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