Dynamic Decentralized Control for Protocentric Aerial Manipulators

Abstract : We present a control methodology for underactuated aerial manipulators that is both easy to implement on real systems and able to achieve highly dynamic behaviors. The method is composed by two parts: i) a nominal input/state trajectory generator that takes into account the full-body dynamics of the system exploiting its differential flatness property; ii) a decentralized feedback controller acting on the actuated degrees of freedom that confers the needed robustness to the closed-loop system. We demonstrate that the proposed controller is able to precisely track dynamic trajectories when implemented on a standard hardware. Comparative experiments clearly show the benefit of using the nominal input/state generator.
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Communication dans un congrès
2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p., 2017
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Soumis le : samedi 25 février 2017 - 22:08:16
Dernière modification le : mardi 11 septembre 2018 - 15:19:14
Document(s) archivé(s) le : vendredi 26 mai 2017 - 12:25:54

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  • HAL Id : hal-01476817, version 1

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Marco Tognon, Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Dynamic Decentralized Control for Protocentric Aerial Manipulators. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p., 2017. 〈hal-01476817〉

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