Hybrid Adaptive Control for Aerial Manipulation

被引：5

作者：

Matko Orsag

Christopher Michael Korpela

Stjepan Bogdan

Paul Yu Oh

机构：

[1] University of Zagreb,Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and Computing

[2] Drexel University,Drexel Autonomous Systems Lab

来源：

Journal of Intelligent & Robotic Systems | 2014年 / 73卷

关键词：

Adaptive control; Dexterous manipulation; Aerial robots;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.

引用

页码：693 / 707

页数：14

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