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An adaptive hierarchical control for aerial manipulators
| Content Provider | Scilit |
|---|---|
| Author | Pierri, Francesco Muscio, Giuseppe Caccavale, Fabrizio |
| Copyright Year | 2018 |
| Description | SUMMARY This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach. |
| Related Links | https://zenodo.org/record/2605556/files/Robotica2018.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/66D7CB593F429A1C48F37638383D3872/S0263574718000553a.pdf/div-class-title-an-adaptive-hierarchical-control-for-aerial-manipulators-div.pdf |
| Ending Page | 1550 |
| Page Count | 24 |
| Starting Page | 1527 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574718000553 |
| Journal | Robotica |
| Issue Number | 10 |
| Volume Number | 36 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2018-10-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Aerial Manipulation Adaptive Control based Control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
