Pregled bibliografske jedinice broj: 665061
Hybrid Adaptive Control for Aerial Manipulation
Hybrid Adaptive Control for Aerial Manipulation // Journal of intelligent & robotic systems, 73 (2014), 1/4; 693-707 doi:10.1007/s10846-013-9936-1 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 665061 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Hybrid Adaptive Control for Aerial Manipulation
Autori
Orsag, Matko ; Korpela, Christopher ; Bogdan, Stjepan ; Oh, Paul
Izvornik
Journal of intelligent & robotic systems (0921-0296) 73
(2014), 1/4;
693-707
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
adaptive control; dexterous manipulation; aerial robots
Sažetak
This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Projekti:
036-0363078-3016 - Planiranje i izvođenje zadataka u robotskim i autonomnim sustavima (Bogdan, Stjepan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus
