期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 73, 期 1-4, 页码 693-707出版社
SPRINGER
DOI: 10.1007/s10846-013-9936-1
关键词
Adaptive control; Dexterous manipulation; Aerial robots
资金
- Air Force Research Laboratory [FA8655-13-1-3055]
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.
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