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Landing of VTOL UAVs Using a Stationary Robot Manipulator: A New Approach for Coordinated Control

Maier, Moritz and Kondak, Konstantin (2015) Landing of VTOL UAVs Using a Stationary Robot Manipulator: A New Approach for Coordinated Control. In: IEEE Conference on Decision and Control, pp. 1497-1502. IEEE Control Systems Society (CSS). IEEE Conference on Decision and Control (CDC), 15-18 Dec 2015, Osaka, Japan. ISBN 978-1-4799-7885-4

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Abstract

This paper deals with the landing of VTOL UAVs under severe conditions. We present a novel system based on a robot manipulator, which is used to support a UAV in the last, most challenging, landing phase. In this phase, the aerial vehicle is connected to the robot by means of a universal hinge. This allows to decouple the UAV’s orientation from the robot’s end-effector orientation. The main contribution of the paper is a new control approach for the whole system composed of a VTOL UAV and a manipulator. A combination of a backstepping controller accounting for the UAV’s dynamics with an impedance controller for the manipulator is used for co- ordinated control of the whole system. The proposed approach allows to independently control position and orientation of a VTOL UAV, whereby an arbitrary stable attitude controller can be used for the flying vehicle. The advantage of the presented approach is that the interaction forces between robot and UAV are taken into account explicitly and that a Lyapunov stability proof for the UAV subsystem can be derived directly. Robustness and performance of the control approach are investigated in simulation and experiments. The experimental results for an AR.Drone quadrotor and a DLR/KUKA light-weight robot with seven degrees-of-freedom are presented in the paper.

Item URL in elib:https://elib.dlr.de/100639/
Document Type:Conference or Workshop Item (Lecture)
Title:Landing of VTOL UAVs Using a Stationary Robot Manipulator: A New Approach for Coordinated Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, Moritzmoritz.maier (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Date:December 2015
Journal or Publication Title:IEEE Conference on Decision and Control
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1497-1502
Editors:
EditorsEmail
Astolfi, Alessandroa.astolfi@imperial.ac.uk
Publisher:IEEE Control Systems Society (CSS)
Series Name:IEEE Conference on Decision and Control (CDC)
ISBN:978-1-4799-7885-4
Status:Published
Keywords:robotics, UAVs, nonlinear control, rigid-body dynamics
Event Title:IEEE Conference on Decision and Control (CDC)
Event Location:Osaka, Japan
Event Type:international Conference
Event Dates:15-18 Dec 2015
Organizer:IEEE Control Systems Society (CSS)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Maier, Moritz
Deposited On:04 Jan 2016 11:07
Last Modified:31 Jul 2019 19:57

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