Title :
Trajectory control of a class of articulated aerial robots
Author :
Kobilarov, Marin
Abstract :
This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a general class of underactuated aerial systems. A simulated hexrotor vehicle with a simple manipulator is employed to demonstrate the proposed techniques.
Keywords :
autonomous aerial vehicles; manipulator dynamics; motion control; stability; trajectory control; aerial vehicle; articulated aerial robot; backstepping control; free-flying multibody dynamics modeling; robotic manipulator; simulated hexrotor vehicle; stabilizing control law; trajectory control; underactuated aerial system; Dynamics; Joints; Manipulators; Standards; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4799-0815-8
DOI :
10.1109/ICUAS.2013.6564782
