Centroid vectoring control using aerial manipulator: Experimental results (CROSBI ID 679791)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Ivanovic, Antun ; Car, Marko ; Orsag, Matko ; Bogdan, Stjepan
engleski
Centroid vectoring control using aerial manipulator: Experimental results
This paper addresses the issues of aerial manipulation and its dynamic center of mass variations by deriving a control principle capable of exploiting this disturbance as a means to stabilize the Unmanned Aerial Vehicle (UAV). A complete mathematical model of an aerial robot consisting of rotorcraft UAV body and a generic multiple degree of freedom manipulator is derived and presented. Previously developed control scheme utilizing both the rotor speed control and centroid vectoring through the mid-ranging approach is augmented with a standard position control loop. The proposed control approach is tested and verified in manual and autonomous flight experiments. We present the results of centroid vectoring control on a trajectory tracking example alongside which we provide comparison with state-of the-art approaches.
UAV, control
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Podaci o prilogu
372-377.
2019.
objavljeno
10.1109/icuas.2019.8798333
Podaci o matičnoj publikaciji
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
2019 International Conference on Unmanned Aircraft Systems (ICUAS 2019)
predavanje
11.06.2019-14.06.2019
Atlanta (GA), Sjedinjene Američke Države