Mechanics, control and internal dynamics of quadrotor tool operation

We propose a novel control framework to enable a quadrotor to operate a tool attached on it. We first show that any Cartesian control at the tool-tip can be generated if and only if the tool-tip is located strictly above or below the quadrotor’s center-of-mass. We then fully characterize the interna...

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Bibliographic Details
Published in:Automatica (Oxford) 2015-11, Vol.61, p.289-301
Main Authors: Nguyen, Hai-Nguyen, Ha, ChangSu, Lee, Dongjun
Format: Article
Language:English
Subjects:
Aerial manipulation
Finite-time escape
Internal dynamics
Quadrotor
Tool operation
Under-actuation
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Summary:We propose a novel control framework to enable a quadrotor to operate a tool attached on it. We first show that any Cartesian control at the tool-tip can be generated if and only if the tool-tip is located strictly above or below the quadrotor’s center-of-mass. We then fully characterize the internal dynamics of the spatial quadrotor tool operation, which arises due to the quadrotor’s under-actuation, and elucidate a seemingly counter-intuitive necessary condition for the internal stability, that is, the tool-tip should be located above the quadrotor’s center-of-mass. We further manifest that this internal dynamics can exhibit finite-time escape and propose a stabilizing action to prevent that. The theory is then illustrated for the problems of rotating tool operation and hybrid force/position control with relevant simulation results.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2015.08.015