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An adaptive hierarchical control for aerial manipulators
- Source :
- Robotica
- Publication Year :
- 2018
- Publisher :
- Cambridge University Press (CUP), 2018.
-
Abstract
- SUMMARYThis paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.
- Subjects :
- Lyapunov function
0209 industrial biotechnology
Adaptive control
Inverse kinematics
Computer science
General Mathematics
Stability (learning theory)
02 engineering and technology
Motion control
Tracking (particle physics)
GeneralLiterature_MISCELLANEOUS
Computer Science Applications
Computer Science::Robotics
symbols.namesake
Aerial Manipulation
Adaptive Control
Model-Based Control
020901 industrial engineering & automation
Control and Systems Engineering
Control theory
0202 electrical engineering, electronic engineering, information engineering
symbols
Trajectory
020201 artificial intelligence & image processing
Software
Subjects
Details
- ISSN :
- 14698668 and 02635747
- Volume :
- 36
- Database :
- OpenAIRE
- Journal :
- Robotica
- Accession number :
- edsair.doi.dedup.....58c1943be7aae84b57913d52f43523bc