1. Équilibres, stabilité et sensibilité d'un système robotique de manipulation aérienne soumis à incertitudes des paramètres
- Author
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Gabellieri, Chiara, Tognon, Marco, Sanalitro, Dario, Franchi, Antonio, Robotics and Mechatronics, University of Twente, Institut National de Recherche en Informatique et en Automatique (Inria), University of Catania [Italy], Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT), and Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA)
- Subjects
Cooperative Aerial Manipulation Aerial Systems: Mechanics and Control Motion Control ,Motion Control ,FOS: Electrical engineering, electronic engineering, information engineering ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Systems and Control (eess.SY) ,Cooperative Aerial Manipulation ,Electrical Engineering and Systems Science - Systems and Control ,Aerial Systems: Mechanics and Control - Abstract
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the impact of the uncertain knowledge of the model parameters available to an established communication-less force-based controller. First, we find the closed-loop equilibrium configurations in the presence of the aforementioned uncertainties, and then we study their stability. Hence, we show the fundamental role played in the robustness of the load attitude control by the internal force induced in the manipulated object by non-vertical cables. Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of the uncertainties. Eventually, we validate the results through an extensive set of numerical tests in a realistic simulation environment including underactuated aerial vehicles and sagging-prone cables, and through hardware experiments.
- Published
- 2023