Reference : Adaptive Control of Aerial Manipulation Vehicle
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
http://hdl.handle.net/10993/19224
Adaptive Control of Aerial Manipulation Vehicle
English
Kannan, Somasundar mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Alma, Marouane [CRAN-University of Lorraine]
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
Nov-2014
Porceedings of the 4th IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING
Yes
No
International
4th IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING
28-30 November, 2014
PENANG
MALAYSIA
[en] Aerial Vehicle ; Robotic Arm ; Adaptive control
[en] Adaptive Control of an Aerial Manipulation Vehicle
is discussed here. The aerial manipulation vehicle consisting of
a quadrotor and a robotic arm has a highly coupled dynamics.
The nonlinear coupling introduces additional forces and moments
on the quadrotor which prevents it from precisely hovering at
a position and tracking of reference trajectory. A decentralized
control of robotic arm and quadrotor is considered. The robotic
arm is controlled by a PID approach with acceleration feedback,
and the quadrotor is controlled by PD method in the inner loop
and adaptive position control in the outer loop. The proposed
method successfully handles the problem of hover stabilization
and trajectory tracking.
http://hdl.handle.net/10993/19224

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