This paper addresses the issues of aerial manipulation and its dynamic center of mass variations by deriving a control principle capable of exploiting this disturbance as a means to stabilize the Unmanned Aerial Vehicle (UAV). A complete mathematical model of an aerial robot consisting of rotorcraft UAV body and a generic multiple degree of freedom manipulator is derived and presented. Previously developed control scheme utilizing both the rotor speed control and centroid vectoring through the mid-ranging approach is augmented with a standard position control loop. The proposed control approach is tested and verified in manual and autonomous flight experiments. We present the results of centroid vectoring control on a trajectory tracking example alongside which we provide comparison with state-of the-art approaches.


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    Titel :

    Centroid vectoring control using aerial manipulator: Experimental results


    Beteiligte:
    Ivanovic, Antun (Autor:in) / Car, Marko (Autor:in) / Orsag, Matko (Autor:in) / Bogdan, Stjepan (Autor:in)


    Erscheinungsdatum :

    2019-06-01


    Format / Umfang :

    2267496 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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