Paper Info
Title
Hybrid Adaptive Control for Aerial Manipulation
Abstract
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.
Year
DOI
Venue
2014
10.1007/s10846-013-9936-1
Journal of Intelligent and Robotic Systems
Keywords
Field
DocType
aerial manipulation,aerial manipulation mission,model reference adaptive control,aerial vehicle,gain scheduling,hybrid adaptive control,control scheme,lyapunov stability theory,unstable pi-d attitude control,dynamic stability,unmanned aerial vehicle,high level control system,adaptive control
Lyapunov function,Control theory,Gain scheduling,Control theory,Automaton,Lyapunov stability,Attitude control,Control engineering,Adaptive control,Engineering,High level control
Journal
Volume
Issue
ISSN
73
1-4
1573-0409
Citations 
PageRank 
References 
12
0.77
15
Authors
4
Name
Order
Citations
PageRank
Matko Orsag112014.04
Christopher Michael Korpela2121.45
Stjepan Bogdan315228.12
Paul Y. Oh428951.08