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Conference proceeding
Lyapunov based model reference adaptive control for aerial manipulation
2013 International Conference on Unmanned Aircraft Systems (ICUAS), pp 966-973
May 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators using a lyapunov based model reference adaptive control. Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the safety of the aerial manipulation missions.
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Details
- Title
- Lyapunov based model reference adaptive control for aerial manipulation
- Creators
- Matko Orsag - University of ZagrebChristopher Korpela - Institute of Robotics and Intelligent SystemsStjepan Bogdan - University of ZagrebPaul Oh - Drexel UniversityIEEE
- Publication Details
- 2013 International Conference on Unmanned Aircraft Systems (ICUAS), pp 966-973
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000326842400116
- Scopus ID
- 2-s2.0-84883070341
- Other Identifier
- 991019348754104721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Aerospace
- Engineering, Electrical & Electronic