Dynamic decentralized control for protocentric aerial manipulators

Marco Tognon, Burak Yuksel, Gabriele Buondonno, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

30 Citations (Scopus)

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 languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages6375-6380
Number of pages6
ISBN (Electronic)978-1-5090-4633-1
ISBN (Print)978-1-5090-4634-8
DOIs
Publication statusPublished - 21 Jul 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore
Duration: 29 May 20173 Jun 2017
http://www.icra2017.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2017
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated titleICRA 2017
CountrySingapore
CitySingapore
Period29/05/173/06/17
Internet address

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