Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

Abstract

This paper focuses on the dynamic stability analysis of a manipulator mounted on a quadrotor unmanned aerial vehicle, namely, a manipulating unmanned aerial vehicle (MUAV). Manipulator movements and environments interaction will extremely affect the dynamic stability of the MUAV system. So the dynamic stability analysis of the MUAV system is of paramount importance for safety and satisfactory performance. However, the applications of Lyapunov's stability theory to the MUAV system have been extremely limited, due to the lack of a constructive method available for deriving a Lyapunov function. Thus, Lyapunov exponent method and impedance control are introduced, and the Lyapunov exponent method can establish the quantitative relationships between the manipulator movements and the dynamics stability, while impedance control can reduce the impact of environmental interaction on system stability. Numerical simulation results have demonstrated the effectiveness of the proposed method.

A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

“…Most controllers of aerial manipulators are based on linear methods, especially the classical time-domain control method represented by PID technology [13], modern control theory represented by the LQR method [14], and robust control method represented by H infinite control method [15], and so on. However, many researchers have realized that the stability control of air manipulators based on the PID or LQR method is an optimal control method based on modern control theory and has now been successfully applied to the control system of a variety of air manipulators [16][17][18].…”