Nonlinear control of aerial manipulation systems

Samadikhoshkho, Zahra; Ghorbani, Shahab; Janabi–Sharifi, Farrokh; Zareinia, Kourosh

doi:10.1016/j.ast.2020.105945

Cited by 25 publications

(22 citation statements)

References 21 publications

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“…where u is the generalized force, while u ext is the external force exerted on the system. In addition, G(ξ) and the elements of matrix C are given as [22] G…”

Section: Dynamic Modelingmentioning

confidence: 99%

“…Moreover, external contact forces are avoided as much as possible in order to maintain stability [21]. Such conventional AMSs can hardly be utilized for interactive missions in confined and unstructured environments [22]. As a remedy for the aforementioned issues, AMS with continuum robotic (CR) arms, namely aerial continuum manipulation system (ACMS), [20] (Figure 1) and soft robots [21] have been introduced in the literature.…”

Section: Introductionmentioning

confidence: 99%

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Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021

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Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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“…where u is the generalized force, while u ext is the external force exerted on the system. In addition, G(ξ) and the elements of matrix C are given as [22] G…”

Section: Dynamic Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021

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“…Control of ACMS is highly challenging due to the high level of nonlinearities and uncertainties resulting from CR dynamic, as well as motion and coupling terms between aerial vehicle and arm. As shown in [34,35], robustness against disturbances during manipulation tasks and adaptivity with respect to the physical quantities of the model are two key features of designing a controller for aerial manipulation systems. Adaptive sliding mode controller has shown enough robustness and efficiency in aerial manipulation missions [34,35] and is adopted for ACMS control.…”

Section: Control Designmentioning

confidence: 99%

“…For the vehicle control, a nonlinear robust adaptive hierarchical sliding mode control approach [30] is adopted due to its advantages, such as its robustness to inertial parameter uncertainties [34]. Parameters of interest and subject to changes are inertial parameters of the arm, due to its motion.…”

Section: A Uav Controlmentioning

confidence: 99%

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Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

2020

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In this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used. Such an integration will enable the benefits of continuum arms especially in cluttered and less structured environments. Despite promising advantages, modeling and control of ACMS involve several challenges. The paper presents decoupled dynamic modeling of ACMS arm using the modified Cosserat rod theory. To deal with the problem of complexity and high level of modeling uncertainties, a robust adaptive control approach is proposed for the position control of ACMS and its stability is proven using Lyapunov stability theorem. Finally, the effectiveness of the proposed scheme is validated in a simulated environment.

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