Dynamic decentralized control for protocentric aerial manipulators

Marco Tognon; Burak Yuksel; Gabriele Buondonno; Antonio Franchi

doi:10.1109/ICRA.2017.7989753

Dynamic decentralized control for protocentric aerial manipulators

Marco Tognon
, Burak Yuksel
, Gabriele Buondonno
, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

44 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 language	English
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	https://doi.org/10.1109/ICRA.2017.7989753
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)
Publisher	IEEE
Volume	2017
ISSN (Print)	1050-4729

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated title	ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17
Internet address	http://www.icra2017.org/

Access to Document

10.1109/ICRA.2017.7989753

Cite this

Tognon, M., Yuksel, B., Buondonno, G., & Franchi, A. (2017). Dynamic decentralized control for protocentric aerial manipulators. In 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 6375-6380). Article 7989753 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2017). IEEE. https://doi.org/10.1109/ICRA.2017.7989753

@inproceedings{92e9bd8c64ce434a87fd25b693b1ce21,

title = "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.",

author = "Marco Tognon and Burak Yuksel and Gabriele Buondonno and Antonio Franchi",

year = "2017",

month = jul,

day = "21",

doi = "10.1109/ICRA.2017.7989753",

language = "English",

isbn = "978-1-5090-4634-8",

series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

pages = "6375--6380",

booktitle = "2017 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2017 IEEE International Conference on Robotics and Automation, ICRA 2017 : Innovation, Entrepreneurship, and Real-world Solutions, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

url = "http://www.icra2017.org/",

}

Tognon, M, Yuksel, B, Buondonno, G & Franchi, A 2017, Dynamic decentralized control for protocentric aerial manipulators. in 2017 IEEE International Conference on Robotics and Automation (ICRA)., 7989753, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2017, IEEE, Piscataway, NJ, pp. 6375-6380, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989753

Dynamic decentralized control for protocentric aerial manipulators. / Tognon, Marco; Yuksel, Burak; Buondonno, Gabriele et al.
2017 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ: IEEE, 2017. p. 6375-6380 7989753 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Dynamic decentralized control for protocentric aerial manipulators

AU - Tognon, Marco

AU - Yuksel, Burak

AU - Buondonno, Gabriele

AU - Franchi, Antonio

PY - 2017/7/21

Y1 - 2017/7/21

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85027967268

U2 - 10.1109/ICRA.2017.7989753

DO - 10.1109/ICRA.2017.7989753

M3 - Conference contribution

AN - SCOPUS:85027967268

SN - 978-1-5090-4634-8

T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)

SP - 6375

EP - 6380

BT - 2017 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

CY - Piscataway, NJ

T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017

Y2 - 29 May 2017 through 3 June 2017

ER -

Dynamic decentralized control for protocentric aerial manipulators

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this