An adaptive hierarchical control for aerial manipulators

This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variable...

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Bibliographic Details
Published in:Robotica 2018-10, Vol.36 (10), p.1527-1550
Main Authors: Pierri, Francesco, Muscio, Giuseppe, Caccavale, Fabrizio
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Computer simulation
Control algorithms
Control theory
Inverse kinematics
Kinematics
Manipulators
Motion control
Robot arms
Tracking control
Trajectory control
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Summary:This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574718000553