Control of aerial manipulation vehicle in operational space.

Kannan, Somasundar; Quintanar-Guzman, Serket; Dentler, Jan; Olivares-Mendez, Miguel A.; Voos, Holger

Abstract

Operational Space Control of an Aerial Manipulation Vehicle is discussed here. The Aerial Manipulation Vehicle has a highly coupled dynamics due to the interaction between the Quadrotor and the attached manipulator. The nonlinear coupling introduces disturbances on the quadrotor which hinders precise control. A control solution in the operational space is considered where the End-Effector has to reach a final position starting from an initial hovering position. A hierarchical control approach is implemented where the outermost layer consist of Closed Loop Inverse Kinematics algorithm followed by position and attitude controlled loop for the quadrotor. The robotic arm and the quadrotor are controlled by different combinations of PID control methods. The proposed method is successfully tested through simulations for position control of the Aerial Manipulator.

Citation

KANNAN, S., QUINTANAR-GUZMAN, S., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Control of aerial manipulation vehicle in operational space. In Proceedings of the 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016), 30 June - 02 July 2016, Ploiesti, Romania. Piscataway: IEEE [online], pages 1-5. Available from: https://doi.org/10.1109/ECAI.2016.7861157

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016)
• Start Date: Jun 30, 2016
• End Date: Jul 2, 2016
• Acceptance Date: May 1, 2016
• Online Publication Date: Jul 2, 2016
• Publication Date: Feb 23, 2017
• Deposit Date: Nov 8, 2022
• Publicly Available Date: Nov 8, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Peer Reviewed: Peer Reviewed
• ISBN: 9781509020447
• DOI: https://doi.org/10.1109/ECAI.2016.7861157
• Keywords: Integrated circuits; Computers; Artificial intelligence; FCC
• Public URL: https://rgu-repository.worktribe.com/output/1279804