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Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings
J. Alvarez-Munoz1; N. Marchand2; J. F. Guerrero-Castellanos3; J. J. Tellez-Guzman2; J. Escareno4; M. Rakotondrabe5
发表期刊International Journal of Automation and Computing
ISSN1476-8186
2018
卷号15期号:5页码:547-558
摘要This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF (degrees of freedom) manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control (nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
关键词Observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbance rejection.
DOI10.1007/s11633-018-1145-8
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被引频次:9[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/42432
专题学术期刊_Machine Intelligence Research
作者单位1.Polytechnic Institute of Advanced Sciences, FR 94200 Paris, France
2.Univ. Grenoble Alpes, GIPSA-Lab, FR-38000 Grenoble, France
3.Autonomous University of Puebla (BUAP), Faculty of Electronics, MX 72570 Puebla, Mexico
4.University of Limoges ENSIL - ENSCI, XLIM Laboratory UMR CNRS 7252, Parc Ester Technopole, 16 rue Atlantis, Limoges 87068, France
5.FEMTO-ST Institute, UMR CNRS-UFC/ENSMM/UTBM, Automatic Control and Micro-Mechatronic Department, FR Besançon, France
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J. Alvarez-Munoz,N. Marchand,J. F. Guerrero-Castellanos,et al. Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings[J]. International Journal of Automation and Computing,2018,15(5):547-558.
APA J. Alvarez-Munoz,N. Marchand,J. F. Guerrero-Castellanos,J. J. Tellez-Guzman,J. Escareno,&M. Rakotondrabe.(2018).Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings.International Journal of Automation and Computing,15(5),547-558.
MLA J. Alvarez-Munoz,et al."Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings".International Journal of Automation and Computing 15.5(2018):547-558.
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