Article
A decentralized approach for the aerial manipulator robust trajectory tracking
Author/s | Tlatelpa-Osorio, Yarai Elizabeth
Rodríguez-Cortés, Hugo Acosta Rodríguez, José Ángel |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2024-03 |
Deposit Date | 2024-04-25 |
Published in |
|
Abstract | This paper introduces a new decentralized control strategy for an unmanned aerial manipulator (UAM) constrained to the vertical plane. The control strategy comprises two loops: the first compensates for the aerial vehicle’s ... This paper introduces a new decentralized control strategy for an unmanned aerial manipulator (UAM) constrained to the vertical plane. The control strategy comprises two loops: the first compensates for the aerial vehicle’s impact on the manipulator; and the second one implements independent controllers for the aerial vehicle and the manipulator. The controller for the aerial vehicle includes an estimator to compensate for the dynamic influence of the manipulator, even if it is affected by external wind-gust disturbances. The manipulator has two revolute joints; however, it is modeled as an dynamically equivalent manipulator, with one revolute and one prismatic joint. The proposed control strategy’s performance is evaluated using a simulator that includes the vehicle’s aerodynamics and the manipulator’s contact force and moment. |
Funding agencies | Consejo Nacional de Ciencia y Tecnología (CONACYT). México |
Project ID. | 702178 |
Citation | Tlatelpa-Osorio, Y.E., Rodríguez-Cortés, H. y Acosta, J.Á. (2024). A decentralized approach for the aerial manipulator robust trajectory tracking. PLOS ONE, 19 (3), e0299223. https://doi.org/10.1371/journal.pone.0299223. |
Files | Size | Format | View | Description |
---|---|---|---|---|
Plos_Tlatelpa_Descentralized_OA.pdf | 4.957Mb | [PDF] | View/ | Versión publicada |