Namigtle Jimenez, Alfredo (Instituto Nacional de Astrofísica, Óptica y Electrónica), Alvarez Muñoz, Jonatan Uziel (Institut Polytechnique de Sciences Avancées), Diaz-Tellez, Juan (Instituto Tecnólogico de Puebla), Enriquez Caldera, Rogerio Adrian (Instituto Nacional de Astrofísica, Óptica y Electrónica), Escareno Castro, Juan Antonio (University of Limoges), Durand, Sylvain (Strasbourg Univeristy), Marchand, Nicolas (GIPSA-lab), Guerrero-Castellanos, J. Fermi (Benemérita Universidad Autónoma de Puebla)

CLF-Based Control for Aerial Manipulation Using Multirotor UAVs

Scheduled for presentation during the Regular Session "Aerial Robotic Manipulation" (FrA1), Friday, June 9, 2023, 10:50−11:10, Room 118

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents the trajectory-tracking control of a Vertical Take-off and Landing (VTOL) rotorcraft endowing a two Degrees of Freedom (DoFs) manipulator arm. The research considers endogenous (parametric) and exogenous (external disturbances) uncertainties as lumped disturbance, which is estimated via an Extended-State Observer (ESO). A feedback controller is synthesized through the Control Lyapunov Function (CLF) aided by feedforward terms composed of the ESO estimates. The compound system, the rotorcraft, and the manipulator dynamics are mathematically modeled based on the energy-based Euler-Lagrange (EL) formalism. The system’s stability is analyzed within the Input-State Stability (ISS) framework, guaranteeing closed-loop stability for the overall design (controller-ESO-UAV+arm). Results from an extensive simulation stage prove the effectiveness of the proposed control strategy.