Name
Abstract | ||
|---|---|---|
Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor is considered. The robotic arm is controlled by a PID approach with acceleration feedback, and the quadrotor is controlled by PD method in the inner loop and adaptive position control in the outer loop. The proposed method successfully handles the problem of hover stabilization and trajectory tracking. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICCSCE.2014.7072729 | ICCSCE |
Keywords | Field | DocType |
adaptive position control,pd control,robotic arm,pd method,reference trajectory tracking,nonlinear coupling,adaptive control,dexterous manipulators,pid approach,decentralized control,rotors (mechanical),hovercraft,autonomous aerial vehicles,robotic arm control,path planning,hover stabilization,trajectory control,aerial manipulation vehicle,acceleration feedback,aerial vehicle,stability,position control,quadrotor,decentralised control,three-term control,acceleration | Inner loop,Robotic arm,Decentralised system,PID controller,Control theory,Control engineering,Acceleration,Engineering,Adaptive control,Nonlinear coupling,Trajectory | Conference |
Citations | PageRank | References |
2 | 0.47 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kannan Somasundar | 1 | 26 | 4.18 |
| Marouane Alma | 2 | 73 | 11.16 |
| Miguel A. Olivares-Mendez | 3 | 89 | 8.97 |
| Holger Voos | 4 | 118 | 34.98 |