Hierarchical control of aerial manipulation vehicle.

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

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

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016)
• Acceptance Date: Jul 8, 2016
• Online Publication Date: Jul 8, 2016
• Publication Date: Jan 27, 2017
• Deposit Date: Nov 3, 2022
• Publicly Available Date: Nov 3, 2022
• 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