Force control design for a robot manipulator attached to a UAV

Γκούντας, Κωνσταντίνος; Chaikalis, Dimitris; Tzes, Anthony

doi:10.1016/j.ifacol.2018.11.268

Cited by 8 publications

(6 citation statements)

References 9 publications

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“…• Thrust and drag are proportional to the square of propellers speed. By applying Newton-Euler equation [10], the simplified nonlinear model for UAV according to [11] and [12] is given by:…”

Section: A Multi-rotor Uav Dynamicsmentioning

confidence: 99%

See 1 more Smart Citation

Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Anuar

Plestan

Chriette

et al. 2022

2022 16th International Workshop on Variable Structure Systems (VSS)

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This paper presents the control of an aerial manipulator composed of a quadrotor and a manipulator with two degrees of freedom (2 DOF). There is a strong physical coupling between the dynamics of the UAV and the manipulator arm. This coupling along with external perturbations (e.g. wind gusts), considerably affects the stability of the drone's motion in flight which, consequently, affects the desired accuracy of the end effector with respect to its final task. The solution presented here is based on super-twisting sliding mode control with adaptive gain. It is a continuation of previous study on sliding mode control with adaptive gain [1]. The effectiveness of the controller and its robustness against perturbations are verified and analyzed using numerical simulation.

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Section: A Multi-rotor Uav Dynamicsmentioning

confidence: 99%

“…Modelling of UAM is based on the coupling effect of the manipulator on UAV as external disturbances and vice versa as in [11] and [12]. Manipulator floating base initial velocity (ω 0 ) and acceleration ( ω0 , ν0 ) given by UAV velocity (ω) and acceleration ( ω, ξ) for the RNE algorithm are as follows…”

Section: Modelling Of Uammentioning

confidence: 99%

Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Anuar

Plestan

Chriette

et al. 2022

2022 16th International Workshop on Variable Structure Systems (VSS)

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“…Model-dependent controllers [40] are capable of maintaining the pose of the UAM despite the force exerted by the manipulator. The carried manipulator is controlled using a feedback linearization scheme to track the reference trajectory, while a modified Proportional-Derivative (PD) controller accounting for the total mass m l t of the leader UAM and its applied forces is employed for the leader UAV.…”

Section: A Leader Controller Designmentioning

confidence: 99%

Leader/Follower Force Control of Aerial Manipulators

Γκούντας

Tzes

2021

IEEE Access

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This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for the interaction between the UAV and its manipulator. The overall system consists of a couple UAMs with a carrying load. The coupling between these systems is due to the exerted forces by their manipulators through the object characterized by its stiffness matrix. A leader/follower control scheme is employed with a stabilityanalysis tailored to the UAM-pair. The leader UAM defines the trajectory of the moving object while the follower acts so as to reduce the system's internal reaction forces. Simulation studies are employed to validate the controller's performance while comparing the system's response against that derived from a classical nonlinear tracking controller.

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“…Modelling of UAM is based on the coupling effect of the manipulator arm on UAV as external disturbances and vice versa as in [17] and [18]. The configuration of the manipulator arm in relation to the inertial fixed frame, F W is given as rotation matrix:…”

Section: Modelling Of Uammentioning

confidence: 99%

“…This approach is quite difficult and complex. The second approach is to considers the UAV and the robotic arm as two separate independent systems as in [13]- [18], and then builds models and controllers separately.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Anuar

Plestan

Chriette

et al. 2021

2021 20th International Conference on Advanced Robotics (ICAR)

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Force control design for a robot manipulator attached to a UAV

Cited by 8 publications

References 9 publications

Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Leader/Follower Force Control of Aerial Manipulators

Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

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