Reference : Hierarchical control of aerial manipulation vehicle

	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Aerospace & aeronautics engineering
	Focus Areas :	Computational Sciences
	To cite this reference:	http://hdl.handle.net/10993/33427

Title :	Hierarchical control of aerial manipulation vehicle
Language :	English
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)]
Publication date :	2017
Journal title :	AIP Conference Proceedings
Volume :	1798
Issue/season :	1
Pages :	020069
Peer reviewed :	Yes
Audience :	International
Keywords :	[en] 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 centres :	Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Target :	Researchers ; Professionals ; Students ; General public ; Others
Permalink :	http://hdl.handle.net/10993/33427
DOI :	10.1063/1.4972661
Other URL :	http://aip.scitation.org/doi/abs/10.1063/1.4972661

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