Conference proceeding
Stability control in aerial manipulation
2013 American Control Conference, pp 5581-5586
Jun 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Aerial manipulation, grasping, and perching in small unmanned aerial vehicles (UAVs) require specific control systems to compensate for changing inertial properties. Grasped objects, external forces from terrain objects, or manipulator movements themselves may destabilize or otherwise alter the flight characteristics of small UAVs during operation resulting in undesirable outcomes. Traditional control methods that assume static mass and inertial properties must be modified to produce stable control of a quadrotor system. This paper presents work towards a control scheme to achieve dynamic stability of an aerial vehicle while under the influence of manipulators and grasped objects. A quadrotor with attached multi-degree of freedom manipulators is implemented in simulation and constructed for testing. Compensation of the inertial changes due to in-flight manipulator movements is investigated. A control scheme is developed and results are presented.
Metrics
Details
- Title
- Stability control in aerial manipulation
- Creators
- Matko Orsag - University of ZagrebChristopher Korpela - Institute of Robotics and Intelligent SystemsMiles Pekala - Motile Robot. Inc., Joppa, MD, USAPaul Oh - Drexel UniversityIEEE
- Publication Details
- 2013 American Control Conference, pp 5581-5586
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000327210205130
- Scopus ID
- 2-s2.0-84883517510
- Other Identifier
- 991019348912804721
UN Sustainable Development Goals (SDGs)
This publication has contributed to the advancement of the following goals:
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Engineering, Electrical & Electronic