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Hierarchical control of aerial manipulation vehicle.

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

Authors

Souad Bezzaoucha

Serket Quintanar Guzman

Jan Dentler

Miguel A. Olivares-Mendez

Holger Voos



Abstract

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed along with stability discussion. The simulation studies are successfully performed to validate the design methodology.

Citation

KANNAN, S., BEZZAOUCHA, S., GUZMAN, S.Q., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Hierarchical control of aerial manipulation vehicle. AIP conference proceedings [online], 1798: proceedings of the 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016), 4-8 July 2016, La Rochelle, France, article 020069. Available from: https://doi.org/10.1063/1.4972661

Journal Article Type Conference Paper
Conference Name 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016)
Conference Location La Rochelle, France
Acceptance Date Jul 8, 2016
Online Publication Date Jul 8, 2016
Publication Date Jan 27, 2017
Deposit Date Nov 3, 2022
Publicly Available Date Mar 29, 2024
Journal AIP conference proceedings
Print ISSN 0094-243X
Electronic ISSN 1551-7616
Publisher AIP Publishing
Peer Reviewed Peer Reviewed
Volume 1798
Article Number 020069
DOI https://doi.org/10.1063/1.4972661
Keywords Aerial manipulators; Unmanned Aerial Vehicles (UAVs); Hierarchical control problem; Nonlinear modelling aspect
Public URL https://rgu-repository.worktribe.com/output/1279816
Publisher URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85013655394&doi=10.1063%2f1.4972661&partnerID=40&md5=30cf682562dcc7f5c12cfa46831c6dcb

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