Robust Control of an Aerial Manipulator Interacting with the Environment
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.07.335
Abstract: Abstract This paper deals with the problem of modelling and controlling a vertical take-off and landing aircraft equipped with a lightweight robotic arm. This system is able to perform complex operations that require the physical… read more here.
Keywords: robust control; control; control aerial; aerial manipulator ... See more keywords
Nonlinear Wrench Observer Design for an Aerial Manipulator
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.11.038
Abstract: Abstract In the present work, the model of a tilted hexarotor with an attached 3 DOF manipulator is derived and three different wrench observer concepts originally proposed for Unmanned Aerial Vehicles are extended for the… read more here.
Keywords: nonlinear wrench; aerial manipulator; manipulator; observer design ... See more keywords
Survey on Aerial Manipulator: System, Modeling, and Control
Sign Up to like & getrecommendations! Published in 2019 at "Robotica"
DOI: 10.1017/s0263574719001450
Abstract: SUMMARY The aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance… read more here.
Keywords: manipulator; modeling control; survey aerial; aerial manipulator ... See more keywords
Robust Control for Unmanned Aerial Manipulator Under Disturbances
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3008971
Abstract: Unmanned aerial manipulator (UAM) is usually a combination of a quadrotor and a robotic arm that can exert active influences on the environments. The control problems of the UAM system include model uncertainty caused by… read more here.
Keywords: control; external disturbances; robust control; unmanned aerial ... See more keywords
RISE-Based Trajectory Tracking Control of an Aerial Manipulator Under Uncertainty
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3184820
Abstract: This letter presents a robust integral of the sign of the error (RISE)-based controller for an aerial manipulator consisting of a multi-rotor and a robotic arm which guarantees tracking error convergence to zero in the… read more here.
Keywords: controller; uncertainty; aerial manipulator; rise based ... See more keywords
A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2895880
Abstract: We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces—a task which is motivated by the increasing interest in autonomous… read more here.
Keywords: industrial plants; manipulator; truly redundant; manipulator system ... See more keywords
Adaptive Center-of-Mass Relocation for Aerial Manipulator Fault Tolerance
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3154040
Abstract: This work proposes a fault tolerant aerial manipulator based on a standard hexarotor vehicle, which is able to maintain independent control of torque and vertical thrust in case of motor failure by adequately changing the… read more here.
Keywords: aerial manipulator; adaptive center; manipulator; fault ... See more keywords
Vision-Based Impedance Control of an Aerial Manipulator Using a Nonlinear Observer
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3176743
Abstract: Contact-based aerial interaction control in unknown environments is a challenging issue. To solve this problem, this paper presents an image-based impedance control scheme for an aerial manipulator. Unlike points and image moments, the line features… read more here.
Keywords: based impedance; aerial manipulator; manipulator; impedance control ... See more keywords
Vision-Based Hierarchical Impedance Control of an Aerial Manipulator
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3203755
Abstract: This article presents an image-based impedance control scheme for an under-actuated aerial manipulator. Unlike the existing Cartesian cascade control (admittance control) scheme, we design an image-space visual servoing controller at the dynamic level to achieve… read more here.
Keywords: impedance control; control; vision based; aerial manipulator ... See more keywords
Modeling and Controlling the Dynamic Behavior of an Aerial Manipulator
Sign Up to like & getrecommendations! Published in 2021 at "Fluctuation and Noise Letters"
DOI: 10.1142/s0219477521500449
Abstract: Unmanned Aerial Vehicles (UAVs) installed with a gripper is an effective and robust way to grab the wanted object from inaccessible locations. In this study, we develop a novel control mechanism to... read more here.
Keywords: dynamic behavior; controlling dynamic; behavior aerial; aerial manipulator ... See more keywords
A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation
Sign Up to like & getrecommendations! Published in 2021 at "Complexity"
DOI: 10.1155/2021/5695681
Abstract: This paper proposes a novel aerial manipulator with front cutting effector (AMFCE) to address the aerial physical interaction (APhI) problem. First, the system uncertainty and external disturbance during the system movement and contact operation are… read more here.
Keywords: novel aerial; system; front cutting; control ... See more keywords