Paper Info
Title
Task-Space Tracking Control For Underactuated Aerial Manipulators
Abstract
A flying vehicle equipped with a robotic manipulator poses a challenging control problem because of the dynamical coupling between both subsystems. In order to achieve highly dynamic behaviors while enabling precise end-effector tracking of the manipulator, this coupling has to be taken into account in the control design. In this paper, an inertial decomposition of the full rigid body dynamics is utilized to design a control law, which guarantees end-effector reference tracking and position trajectory control of the overall system. The stability analysis of the closed loop system is accompanied with a validation in simulation of the proposed controller.
Year
DOI
Venue
2018
10.23919/ECC.2018.8550248
2018 EUROPEAN CONTROL CONFERENCE (ECC)
Field
DocType
Citations 
Inertial frame of reference,Control theory,Coupling,Task analysis,Control theory,Computer science,Manipulator,Robot kinematics,Underactuation,Rigid body dynamics
Conference
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Gianluca Garofalo1447.11
Fabian Beck222.10
Christian Ott31527128.37