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Hierarchical control of aerial manipulation vehicle
KANNAN, Somasundar; BEZZAOUCHA, Souad; QUINTANAR GUZMAN, Serket et al.
2017 • In AIP Conference Proceedings, 1798 (1), p. 020069
Peer reviewed
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https://hdl.handle.net/10993/33427
DOI
10.1063/1.4972661
 

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Keywords :
Aerial Manipulator; UAV; Control
Abstract :
[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 :
no
Language :
English
Title :
Hierarchical control of aerial manipulation vehicle
Publication date :
2017
Journal title :
AIP Conference Proceedings
Volume :
1798
Issue :
1
Pages :
020069
Peer reviewed :
Peer reviewed
Focus Area :
Computational Sciences
Additional URL :
http://aip.scitation.org/doi/abs/10.1063/1.4972661
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since 04 December 2017

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