• DocumentCode
    3730808
  • Title

    Design of control system for a four-rotor UAV equipped with robotic arm

  • Author

    Dmitry Bazylev;Artem Kremlev;Alexey Margun;Konstantin Zimenko

  • Author_Institution
    ITMO University, Saint Petersburg, Russia
  • fYear
    2015
  • Firstpage
    144
  • Lastpage
    149
  • Abstract
    The paper is devoted to the development of robust control for four-rotor aerial vehicle equipped with robotic arm based on the feedback linearization approach and finite-time control of the double integrator system. As a combined model of such system a quadrocopter and planar two link manipulator were chosen. Simulation results confirm efficiency of the proposed controller.
  • Keywords
    "Manipulators","Robustness","Tensile stress","Robot kinematics","Control systems","Algorithm design and analysis"
  • Publisher
    ieee
  • Conference_Titel
    Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2015 7th International Congress on
  • Electronic_ISBN
    2157-0221
  • Type

    conf

  • DOI
    10.1109/ICUMT.2015.7382419
  • Filename
    7382419
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3730808