Ivanovic, Antun (University of Zagreb), Car, Marko (University of Zagreb), Orsag, Matko (University of Zagreb), Bogdan, Stjepan (Univ. of Zagreb)

Centroid Vectoring Control Using Aerial Manipulator: Experimental Results

Scheduled for presentation during the Regular Session "Control Architectures II" (WeB4), Wednesday, June 12, 2019, 16:20−16:40, Savannah

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

This paper addresses the issues of aerial manipulation and its dynamic center of mass variations by deriving a control principle capable of exploiting this disturbance as a means to stabilize the Unmanned Aerial Vehicle (UAV). A complete mathematical model of an aerial robot consisting of rotorcraft UAV body and a generic multiple degree of freedom manipulator is derived and presented. Previously developed control scheme utilizing both the rotor speed control and centroid vectoring through the mid-ranging approach is augmented with a standard position control loop. The proposed control approach is tested and verified in manual and autonomous flight experiments. We present the results of centroid vectoring control on a trajectory tracking example alongside which we provide comparison with state-of-the-art approaches.