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.
| Original language | English |
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| Title of host publication | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE |
| Pages | 6375-6380 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-5090-4633-1 |
| ISBN (Print) | 978-1-5090-4634-8 |
| DOIs | |
| Publication status | Published - 21 Jul 2017 |
| Externally published | Yes |
| Event | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 http://www.icra2017.org/ |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation (ICRA) |
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| Publisher | IEEE |
| Volume | 2017 |
| ISSN (Print) | 1050-4729 |
Conference
| Conference | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
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| Abbreviated title | ICRA 2017 |
| Country/Territory | Singapore |
| City | Singapore |
| Period | 29/05/17 → 3/06/17 |
| Internet address |