Paper Info
Title
Multi-rigid-body dynamics and online model predictive control for transformable multi-links aerial robot*
Abstract
Transformable multi-links aerial robots have great potentials in application relying on the transformable features to change its shape during the flight. Compared to traditional quadrotor robots, transformable multi-links robots are equipped with servo motor between links. To simplify the non-linear dynamic system, the previous work restricts the robot to transform in very slow speed so that the robot could be approximated as a quadrotor robot at each time point. However, tradeoff comes as the dynamic performance is given up. In this paper, we come up with a new framework combining of computationally efficient non-linear model predictive controller and motion primitive to optimize thrust force and joints trajectory of the multi-links aerial robot. Finally, we verify our framework with fast transformation motions and table tennis task which requires dynamic performance.
Year
DOI
Venue
2019
10.1080/01691864.2019.1660710
ADVANCED ROBOTICS
Keywords
Field
DocType
Aerial vehicle,aerial transformation,flight control,non-linear model predictive controller,motion primitives
Control theory,Model predictive control,Control engineering,Engineering,Robot,Rigid body dynamics,Online model
Journal
Volume
Issue
ISSN
33.0
19
0169-1864
Citations 
PageRank 
References 
1
0.36
0
Authors
8
Name
Order
Citations
PageRank
Fan Shi15012.03
Moju Zhao2288.38
Tomoki Anzai3196.50
Keita Ito422.07
Xiangyu Chen5267.46
Shunichi Nozawa68515.81
Kei Okada7534118.08
Masayuki Inaba82186410.27