Pregled bibliografske jedinice broj: 631443
Lyapunov based Model Reference Adaptive Control for Aerial Manipulation
Lyapunov based Model Reference Adaptive Control for Aerial Manipulation // Proc of 2013 International Conference on Unmanned Aircraft Systems
Atlanta (GA), Sjedinjene Američke Države, 2013. str. 966-973 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Lyapunov based Model Reference Adaptive Control for Aerial Manipulation
Autori
Orsag, Matko ; Korpela, Christopher ; Bogdan, Stjepan ; Oh, Paul
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proc of 2013 International Conference on Unmanned Aircraft Systems
/ - , 2013, 966-973
Skup
The 2013 International Conference on Unmanned Aircraft Systems (ICUAS13)
Mjesto i datum
Atlanta (GA), Sjedinjene Američke Države, 28.05.2013. - 31.05.2013
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Adaptive control; Stability; Aerial manipulation
Sažetak
This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators using a lyapunov based model reference adaptive control. 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 safety of the aerial manipulation missions.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
