Point-to-Point Timed Transportation Control Method for UWM with Time Segment Strategy and Dynamic Torque Expectation Updating

This paper presents a control method aimed at addressing the efficient and safe transportation of payloads using multi-rotor unmanned aerial vehicles with manipulator (UWM). The method utilizes a time partitioning strategy coupled with dynamic updates of expected torques. Initially, the UWM system i...

Full description

Saved in:
Bibliographic Details
Main Authors: Rao, Jiahao, An, Jianqi
Format: Conference Proceeding
Language:English
Subjects:
aerial manipulator
Correlation
End effectors
Mathematical models
motion control
nonlinear underactuated systems
Safety
Simulation
Torque
Transportation
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a control method aimed at addressing the efficient and safe transportation of payloads using multi-rotor unmanned aerial vehicles with manipulator (UWM). The method utilizes a time partitioning strategy coupled with dynamic updates of expected torques. Initially, the UWM system is characterized using Lagrangian mechanics to formulate its dynamic equations. Subsequently, the control strategy is segmented into three phases: approaching, stabilizing, and convergence, each employing different control laws. Through analysis of geometric relationships during transportation tasks, a correlation between position deviation and expected torque is established, enabling dynamic torque updates to minimize the impact of drone deviation on the manipulator's end-effector position. Simulation results underscore the efficacy and safety enhancements offered by the proposed controller over the PID controller.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10662622