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Rotorcraft with a 3DOF Rigid Manipulator:Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings 被引量:4

Rotorcraft with a 3DOF Rigid Manipulator:Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings
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摘要 This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF(degrees of freedom) manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control(nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy. This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF(degrees of freedom) manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control(nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
出处 《International Journal of Automation and computing》 EI CSCD 2018年第5期547-558,共12页 国际自动化与计算杂志(英文版)
基金 supported by CONACYT-Mexico,Lab Ex PERSYVAL-Lab(No.ANR-11-LABX-0025) Equipex ROBOTEX(No.ANR-10-EQPX-44-01)
关键词 Observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbancerejection. Observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbancerejection.
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