Hierarchical control of aerial manipulation vehicle

[en] Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed along with stability discussion. The simulation studies are successfully performed to validate the design methodology.

Research center :

Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

KANNAN, Somasundar ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

BEZZAOUCHA, Souad ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

QUINTANAR GUZMAN, Serket ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

DENTLER, Jan Eric ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

VOOS, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

External co-authors :

Language :

English

Title :

Hierarchical control of aerial manipulation vehicle

Publication date :

2017

Journal title :

AIP Conference Proceedings

Volume :

1798

Issue :

Pages :

020069

Peer reviewed :

Peer reviewed

Focus Area :

Computational Sciences

Additional URL :

http://aip.scitation.org/doi/abs/10.1063/1.4972661

Available on ORBilu :

since 04 December 2017

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