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
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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
Coupling Disturbance Modeling and Compensation for Aerial Manipulator in Highly Dynamic Motion
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DOI: 10.1109/tcyb.2024.3476124
Abstract: When a manipulator moves in a highly dynamic scenario with a large range of rapid motion, the coupling disturbances between the manipulator and the UAV in the aerial manipulator system (AMS) become very strong, which… read more here.
Keywords: coupling disturbance; manipulator; coupling disturbances; aerial manipulator ... 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
Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection
Sign Up to like & getrecommendations! Published in 2024 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2024.3362197
Abstract: Sliding inspections at heights and in harsh environments generally pose significant challenges for the autonomous operation of unmanned aerial manipulator (UAM). This article investigates the issue of reliable physical interaction by UAM for sliding inspections… read more here.
Keywords: image; control; sliding inspection; image based ... See more keywords