Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

Orsag, Matko; Korpela, Christopher; Oh, Paul

doi:10.1007/s10846-012-9723-4

Cited by 176 publications

(115 citation statements)

References 14 publications

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“…Let e = X d − X represent the position error of the manipulator end effector and then convert (17) into frequency domain, it can be obtained as…”

Section: Control Schemementioning

confidence: 99%

“…However, manipulator movements and the environment contact will change the center of gravity position and reduce system stability [12]. On theoretical research, Euler Lagrange [13][14][15] and Newton-Euler [16][17][18] methods have been widely used to establish the dynamics model. But complex computation always brings great difficulties to model derivation.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

Liu

Huang

Zhang

et al. 2018

International Journal of Aerospace Engineering

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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.

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“…Let e = X d − X represent the position error of the manipulator end effector and then convert (17) into frequency domain, it can be obtained as…”

Section: Control Schemementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

Liu

Huang

Zhang

et al. 2018

International Journal of Aerospace Engineering

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“…In [5] and [6] a Newton-Euler approach had been used to model and control a quadrotor based manipulator. In [7] a Lyapunov based Model Reference Adaptive Control was used to stabilize a quadrotor with multi degree of freedom manipulator.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of Aerial Manipulation Vehicle

Kannan

Alma

Olivares-Méndez

et al. 2014

2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014)

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Abstract-Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor is considered. The robotic arm is controlled by a PID approach with acceleration feedback, and the quadrotor is controlled by PD method in the inner loop and adaptive position control in the outer loop. The proposed method successfully handles the problem of hover stabilization and trajectory tracking.

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“…In Orsag et al [2013b] and Khalifa et al [2012] a NewtonEuler approach had been used to model and control a quadrotor based manipulator. In Orsag et al [2013a] a Lyapunov based Model Reference Adaptive Control was used to stabilize a quadrotor with multi degree of freedom manipulator.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Aerial Manipulation Vehicle with Visual sensor

Kannan

Olivares-Méndez

Voos

2013

IFAC Proceedings Volumes

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Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control mechanism is investigated. An Image Based Visual Servo system is introduced and then used with the aerial manipulator to successfully perform specific tasks of positioning and stabilization during manipulation.

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Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

Cited by 176 publications

References 14 publications

Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

Adaptive control of Aerial Manipulation Vehicle

Modeling and Control of Aerial Manipulation Vehicle with Visual sensor

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