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An adaptive hierarchical control for aerial manipulators

Published online by Cambridge University Press:  30 July 2018

Francesco PierriOpen the ORCID record for Francesco Pierri[Opens in a new window],
Giuseppe Muscio and
Fabrizio Caccavale
Francesco Pierri*
Affiliation:
Università degli Studi della Basilicata, Scuola di Ingegneria, via dell'Ateneo Lucano 10, Potenza 85100, Italy. E-mails: giuseppe.muscio@unibas.it, fabrizio.caccavale@unibas.it
Giuseppe Muscio
Affiliation:
Università degli Studi della Basilicata, Scuola di Ingegneria, via dell'Ateneo Lucano 10, Potenza 85100, Italy. E-mails: giuseppe.muscio@unibas.it, fabrizio.caccavale@unibas.it
Fabrizio Caccavale
Affiliation:
Università degli Studi della Basilicata, Scuola di Ingegneria, via dell'Ateneo Lucano 10, Potenza 85100, Italy. E-mails: giuseppe.muscio@unibas.it, fabrizio.caccavale@unibas.it
*
*Corresponding author. E-mail: francesco.pierri@unibas.it
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Summary

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This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.

Keywords

Aerial ManipulationAdaptive ControlModel-Based Control

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 10 , October 2018, pp. 1527 - 1550
Copyright
Copyright © Cambridge University Press 2018 

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