Hierarchy-Based Adaptive Generalized Predictive Control for Aerial Grasping of a Quadrotor Manipulator
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Shanghai Jiaotong University (science)"
DOI: 10.1007/s12204-019-2081-7
Abstract: In this paper, an adaptive generalized predictive control (GPC) based on hierarchical control strategy is designed for a quadrotor with a robotic arm. For this nonlinear and coupled system, a two-layer control structure is adopted… read more here.
Keywords: generalized predictive; control; predictive control; adaptive generalized ... See more keywords
Aerial Grasping and the Velocity Sufficiency Region
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3192652
Abstract: A largely untapped potential for aerial robots is to capture airborne targets in flight. We present an approach in which a simple dynamic model of a quadrotor/target interaction leads to the design of a gripper… read more here.
Keywords: aerial grasping; sufficiency region; velocity sufficiency; sufficiency ... See more keywords