Morais Aquino, Junio Eduardo (Federal University of Minas Gerais), Raffo, Guilherme Vianna (Federal University of Minas Gerais)

Scaled nonlinear H infinity control of an aerial manipulator

Scheduled for presentation during the Regular Session "Control Design II" (ThB2), Thursday, June 17, 2021, 14:00−14:20, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper proposes a scaled nonlinear H infinity control of an Unmanned Aerial Manipulator (UAM) from the perspective of the end-effector. The equations of motion of the UAM, obtained from the Euler-Lagrange approach, describe the end-effector dynamical behavior, taking into account the multi-body mechanical system composed by a quadrotor UAV and a planar manipulator. Then, a single-layer control strategy is designed in order to directly control the pose of the end-effector. Aiming to improve the inertia matrix conditioning, the UAM dynamic model is scaled to be used into the proposed nonlinear H infinity controller, which is implemented in an embedded system. Finally, a numerical experiment is executed in a Hardware-In-the-Loop framework using the ProVANT Simulator software, corroborating the good performance of the proposed controller.