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Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches

Maier, Moritz and Kondak, Konstantin and Oeschger, André (2015) Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches. IEEE Robotics and Automation Letters, 1 (1), pp. 114-121. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2015.2502920 ISSN 2377-3766

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7339463

Abstract

This paper addresses the problem of landing a VTOL UAV using a serial robotic manipulator fixed to the landing surface, which assists the UAV during the last, most challenging, landing phase. In this phase, UAV and manipulator are connected via a universal hinge, which decouples the flying vehicle’s and the robot’s end-effector orientation. This novel system is meant to be used for VTOL UAVs landing on moving platforms under severe environmental conditions. The main contribution of the paper is the design of a linear state-space controller for position and orientation of the UAV while it is fixed to the manipulator. Furthermore, we compare a coupled and a decoupling realization of the model-based controller with a model-free controller. Both model-based controllers consider the dynamics of an attitude-controlled aerial vehicle and use the acceleration of the robot’s end-effector as control input. The decoupling controller allows to fully actuate the UAV using the manipulator in addition to the UAV’s actuators. All three controllers are validated and compared in experiments using a KUKA/DLR light-weight robot on a non-moving base and an AR.Drone 2.0 quadrotor. The experimental results show that decoupling is superior to the coupled and the model-free approach, since the orientation of the UAV rotorcraft is controlled more precisely.

Item URL in elib:https://elib.dlr.de/101889/
Document Type:Article
Title:Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, Moritzmoritz.maier (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Oeschger, Andréandre.oeschger (at) googlemail.comUNSPECIFIED
Date:26 November 2015
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:1
DOI :10.1109/LRA.2015.2502920
Page Range:pp. 114-121
Editors:
EditorsEmail
Roberts, Jonathanjonathan.roberts@qut.edu.au
Nuske, Stephen T.snuske@andrew.cmu.edu
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Aerial Robotics, Linear Control Theory, Motion Control of Manipulators, Rigid-body Dynamics, VTOL UAVs
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:13 Jan 2016 11:39
Last Modified:31 Jul 2019 19:59

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