ICUAS'17 Paper Abstract

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Paper ThB4.2

Rodríguez de Cos, Carlos (Universidad de Sevilla), Acosta, Jose Angel (Universidad de Sevilla), Ollero, Anibal (Universidad de Sevilla)

Relative-Pose Optimisation for Robust and Nonlinear Control of Unmanned Aerial Manipulators

Scheduled for presentation during the "UAS Applications - V" (ThB4), Thursday, June 15, 2017, 14:05−14:25, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on July 22, 2019

Keywords UAS Applications, Control Architectures, Simulation

Abstract

Recently, the complexity of control systems for autonomous Aerial Manipulators (AMs), i.e. Unmanned Aerial Vehicle (UAV) + Robot Manipulator (RM), is growing faster as per our demand of being able to perform more and more complex tasks. In the present work, we go a step forward adding an optimiser to the actual (nonlinear) control strategy, in order to comply with high-level control demands related to safety, accuracy and efficiency of the operational task. The actual strategy combined robust controllers–for both aerial vehicle and robot manipulator–optimising their shared priorities. Here, we demand the controller to meet an additional feed-forward action, so that the a priori free degree of freedom of the UAV relative-pose reference is optimised in real time according to the aforementioned requirements. In particular, the influence of the UAV relative-pose reference on the capabilities of the AM has been thoroughly analysed, demonstrating among others the benefits of a correct configuration to meet such highlevel requirements, while reducing the End-Effector (EE) error, preventing unstability of hazardous situations and increasing the energetic efficiency of the whole system. A complete analysis of realistic simulations on a benchmark AM is reported.

 

 

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