NDLI: Toward Aerial Grasping and Manipulation with Multiple UAVs

Content Provider	Springer Nature Link
Author	Parra Vega, Vicente Sanchez, Anand Izaguirre, Carlos Garcia, Octavio Ruiz Sanchez, Francisco
Copyright Year	2012
Abstract	In this paper, a multiple UAVs control scheme is developed considering the full nonlinear position/orientation model of a j-Quadrotor system. A novel second order sliding mode controller is presented which guarantees exponential and robust tracking of admissible time-varying pose. The harmful chattering is not involved and no dynamic model is required to implement the controller to yield fast and precise tracking. Additionally, well-posed terminal and controlled time convergence allows an enforced contact at given pre-defined stable contact points at the same time. A stiffness control is proposed for grasping objects considering virtual linkages approach. Our approach yields high performance from the control system, in contrast to other simple controllers proposed for load carrying. In this sense, our advanced nonlinear control solves the apparent limitations imposed by the available technology from the viewpoint of the precise tracking control, and control of the inherent unstable underactuated dynamics, for frictionless contact points (neither rolling nor sliding are considered). A numerical simulation study, under various conditions, shows the numerical feasibility of the proposed approach.
Starting Page	575
Ending Page	593
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	70
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-09-05
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Underactuated dynamic model Second order sliding mode control Aerial grasping Stiffness control Cooperative Quadrotors Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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