DocumentCode
622372
Title
Trajectory control of a class of articulated aerial robots
Author
Kobilarov, Marin
fYear
2013
fDate
28-31 May 2013
Firstpage
958
Lastpage
965
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
978-1-4799-0815-8
Type
conf
DOI
10.1109/ICUAS.2013.6564782
Filename
6564782
Link To Document