Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform

Marco Tognon 1 Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : We study the control problem of an aerial vehicle moving in the 3D space and connected to an independently moving platform through a physical link (e.g., a cable, a chain or a rope). The link is attached to the moving platform by means of a passive winch. The latter differs from an active winch by producing only a constant uncontrollable torque. We solve the problem of exact tracking of the 3D position of the aerial vehicle, either absolute or with respect to the moving platform, while the platform is independently moving. We prove two intrinsic properties of the system, namely, the dynamic feedback linearizability and the differential flatness with respect to the output of interest. Exploiting this properties we design a nonlinear controller able to exponentially steer the position of the aerial robot along any sufficiently smooth time-varying trajectory. The proposed method is tested through numerical simulations in several non-ideal cases.
Keywords : nonlinear control Aerial robot control tethered aerial vehicles
Type de document :
Communication dans un congrès
20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger
https://hal.laas.fr/hal-01501919
Contributeur : Antonio Franchi <>
Soumis le : mardi 4 avril 2017 - 17:01:58
Dernière modification le : mercredi 28 février 2018 - 10:23:14
Document(s) archivé(s) le : mercredi 5 juillet 2017 - 18:02:02

Fichier

2016l-TogFra-preprint.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01501919, version 1

Collections

LAAS | UNIV-TLSE3 | INSA-TOULOUSE | TDS-MACS | LAAS-RIS | LAAS-ROBOTIQUE

Citation

Marco Tognon, Antonio Franchi. Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform. 20th IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, 7p., 2017. 〈hal-01501919〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

134

Téléchargements de fichiers

159

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD