Naslov
Centroid vectoring control using aerial manipulator: Experimental results

Autori
Ivanovic, Antun ; Car, Marko ; Orsag, Matko ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2019 International Conference on Unmanned Aircraft Systems (ICUAS) / - : Institute of Electrical and Electronics Engineers (IEEE), 2019, 372-377

Skup
2019 International Conference on Unmanned Aircraft Systems (ICUAS 2019)

Mjesto i datum
Atlanta (GA), Sjedinjene Američke Države, 11.06.2019. - 14.06.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV, control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA