Robust motion control of aerial manipulators |
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| Affiliation: | 1. Transilvania University of Braşov, Faculty of Mathematics and Computer Science, Iuliu Maniu 50, 500091 Braşov, Romania;2. Gdynia Maritime University, Faculty of Navigation, Al. Jana Pawła II 3, 81-345 Gdynia, Poland;1. IMT Atlantique, LS2N - CNRS, La Chantrerie, 4 rue Alfred Kastler, 44307 Nantes, France;2. Berlin School of Economics and Law, Supply Chain and Operations Management, 10825 Berlin, Germany;1. Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3 Canada;2. Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3 Canada;1. ENTEG and the J.C. Willems Center for Systems and Control, University of Groningen, Groningen 9747AG, The Netherlands;2. Eindhoven University of Technology, Department of Mechanical Engineering, P.O. Box 513, Eindhoven 5600MB, The Netherlands;3. University of Minnesota, Civil, Environmental & Geo-Engineering Department, MN 55455, USA;4. CNRS, LAAS, Université de Toulouse, Toulouse 31400, France;5. Dipartimento di Ingegneria Industriale, University of Trento, Trento 38123, Italy |
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| Abstract: | Aerial manipulators are composed of a robotic arm installed on an unmanned aerial vehicle and are used in several applications because of their inherent ability in performing complex tasks. In real-world applications, these systems are required to be robust against exogenous disturbances, such as wind, to guarantee the desired level of accuracy in the execution of the tasks. In this paper, the reference scenario consists of an aerial manipulator with a camera mounted on the end-effector of the robotic arm, and the goal is to track a fast-moving target. A control system architecture able to assure that the tracking error remains bounded even in the presence of external disturbances is illustrated. The proposed approach is based on the compensation of the dynamic coupling between the robotic arm and the unmanned aerial vehicle. Stability is analytically proved, and the effectiveness of the proposed control solution is shown with some simulations. |
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