ICUAS 2020 Paper Abstract

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Paper WeC4.5

Tlatelpa-Osorio, Y. Elizabeth (CINVESTAV-IPN), Rodriguez Cortes, Hugo (CINVESTAV-IPN), Acosta, Jose Angel (Universidad de Sevilla)

A Descentralized Approach for the Aerial Manipulator Trajectory Tracking

Scheduled for presentation during the Regular Session "Control Architectures III" (WeC4), Wednesday, September 2, 2020, 18:20−18:40, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, UAS Testbeds

Abstract

This work addresses the problem of controlling an Unmanned Aerial Manipulator, constrained to flight on a Cartesian plane, considering a decentralized approach. In this approach, the quadrotor dynamics is an exogenous disturbance for the manipulator and vice versa. The Unmanned Aerial Manipulator is composed of a quadrotor and a two degrees of freedom planar manipulator. The control design procedure has two steps. In the first step, it is proposed a decoupling controller to guarantee that the disturbances produced by the manipulator to the quadrotor, and vice versa, are indeed exogenous. The second step adapts a previously reported robust controller to command the quadrotor. Computed torque control is proposed to command the manipulator. The proposed solution is validated through numerical simulations and some preliminary experimental results.

 

 

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